Wireless powering for a self-propelled and steerable endoscopic capsule for stomach inspection

This paper describes the integration of an active locomotion module in a wirelessly powered endoscopic capsule. The device is a submersible capsule optimized to operate in a fluid environment in a liquid-distended stomach. A 3D inductive link is used to supply up to 400mW to the embedded electronics and a set of 4 radio-controlled motor propellers. The design takes advantage of a ferrite-core in the receiving coil-set. This approach significantly improves the coupling with the external field source with respect to earlier work by the group. It doubles the power that can be received with a coreless coil-set under identical external conditions. The upper limit of the received power was achieved complying with the strict regulations for safe exposure of biological tissue to variable magnetic fields. The wireless transferred power was proven to be sufficient to achieve the speed of 7cm/s in any directions. An optimized locomotion strategy was defined which limits the power consumption by running only 2 motors at a time. A user interface and a joystick controller allow to fully drive the capsule in an intuitive manner. The device functionalities were successfully tested in a dry and a wet environment in a laboratory set-up.