Power Transfer and 5D Position Control of an Endoscopic Capsule Robot

Endoscopic capsules represent a significant advancement in non-invasive diagnostics and treatment for gastrointestinal conditions, facilitating access to challenging areas. However, they still face challenges related to orientation control, positioning, and power supply. This study introduces a system that features a capsule-sized electrodynamic power receiver, magnetically controlled by a platform, enabling the operator to adjust the capsule’s position and orientation within an 8 cm-sided 3D space while simultaneously supplying power to its sensors and actuators.We demonstrate wireless power transfer capabilities, achieving over 1 W at 850 Hz, along with effective 5D positioning control across various movement patterns.