A Multi-Coil Inductive Powering System for an Endoscopic Capsule with Vibratory Actuation

The evolution of endoscopic capsules from passive tools to robotic devices is increasingly attracting the interest of the research community. In the past few years, significant progress has been achieved in the miniaturization of electronics and electromechanical systems. However, their use in commercial endoscopic capsules is hindered by their increased power demands, which, to present, cannot be adequately met by embedded power sources. A 3D inductive powering module, providing over 300 mW to the capsule, overcomes these limitations, thus enabling the integration of active locomotion systems, as well as advanced diagnostic and therapeutic features. This is demonstrated in the present study by a capsule prototype employing the wireless powering unit to drive an on-board vibratory motor for capsule propulsion. Simplified models are employed to illustrate the main principle of this vibratory locomotion scheme. Experimental results, involving movement of the prototype in various environments, confirm both the effectiveness of the wireless powering system, and the efficacy of the vibratory locomotion scheme.