Title :
Propulsive force of a magnetic, MRI - based swimmer
Author :
Friedman, Avi ; Liberzon, Alex ; Kosa, Gabor
Author_Institution :
Sch. of Mech. Eng., Tel Aviv Univ., Tel Aviv, Israel
Abstract :
Capsule endoscopy is becoming an important tool for diagnosis in the digestive system. In certain parts of the gastrointestinal tract, such as the stomach, the capsule should be self-propelled. This study examines the swimming mechanism for a miniature gastric pill endoscope. Our method is based on a constant external magnetic field, such as the B0 field of an MRI (Magnetic Resonance Imaging), that drives a pair of coils in order to create an undulating swimming motion. We present a dynamic model of the two coil swimmer and compare it to the results obtained using PIV (Particle Image Velocimetry). We demonstrate that our swimmer is able to create an average propulsive force of 0.03 mN and 0.07 mN for the flow regimes tested, which is in a reasonable agreement with the results of the proposed dynamic model.
Keywords :
biological organs; biomagnetism; biomedical MRI; biomedical optical imaging; coils; endoscopes; partial differential equations; propulsion; MRI B0 field; MRI-based swimmer propulsive force; PIV; average propulsive force; capsule endoscopy; capsule self-propulsion; constant external magnetic field; digestive system diagnosis; dynamic model; dynamic two-coil swimmer model; flow regime; gastric pill endoscope swimming mechanism; gastrointestinal tract; magnetic MRI-based swimmer; magnetic resonance imaging; miniature gastric pill endoscope; particle image velocimetry; stomach; undulating swimming motion; Coils; Dynamics; Fluids; Force; Magnetic fields; Magnetic resonance imaging; Mathematical model;
Conference_Titel :
Robotics and Automation (ICRA), 2015 IEEE International Conference on
Conference_Location :
Seattle, WA
DOI :
10.1109/ICRA.2015.7139857
