Guided Magnetic Actuator for Active Capsule Endoscope

The authors present an actuator designed for the locomotion of an active capsule endoscope. The actuator is composed of a permanent magnet, a plunger, a solenoid and a cone-shaped polymer. When an alternate current is applied to the solenoid, the magnet will make a reciprocating movement under the electromagnetic force. With the friction difference produced by the polymer, the actuator could propel itself forward on a 2D surface like an inchworm. A prototype with a size of Phi12times37mm was fabricated, with which a series of experiments were carried out under various control currents and environmental conditions. Equipped with a permanent magnet, the actuator could be guided towards a pre-determined direction by an external magnetic field. A six-coil guiding system is designed and simulated for orienting the actuator. The experimental results are reported and the feasibility of the actuator is studied as well.