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

fYear

2015

fDate

26-30 May 2015

Firstpage

4736

Lastpage

4741

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2015 IEEE International Conference on

Conference_Location

Seattle, WA

Type

conf

DOI

10.1109/ICRA.2015.7139857

Filename

7139857