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In this paper, we present a methodology for the size optimization of an external magnetic system made of arc-shaped permanent magnets (ASMs). This magnetic system is able to remotely actuate a drug-release module embedded in a prototype of a capsule robot. The optimization of the magnetic system is carried out by using an accurate analytical model that is valid for any arbitrary dimensions of the...
In this paper, we propose a compliant and tetherless magnetic capsule endoscopic robot. The proposed capsule robot has two key features. First, it has one extra degree of freedom axial contraction capability to perform additional tasks such as a drug releasing, a drug injection, or a biopsy. Also, design features of the magnetically deformed capsule robot are introduced. Its characteristic deformation...
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