This paper presents the in vivo validation of an inductive wireless power transfer (WPT) system integrated for the first time into a magnetically controlled robotic capsule endoscopy platform. The proposed system enables continuous power delivery to the capsule without the need for onboard batteries, thus extending operational time and reducing size constraints. The WPT system operates through a resonant inductive coupling mechanism, based on a transmitting coil mounted on the end effector of a robotic arm that also houses an external permanent magnet and a localization coil for precise capsule manipulation. To ensure robust and stable power transmission in the presence of coil misalignment and rotation, a 3D receiving coil is integrated within the capsule. Additionally, a closed-loop adaptive control system, based on load-shift keying (LSK) modulation, dynamically adjusts the transmitted power to optimize efficiency while maintaining compliance with specific absorption rate (SAR) safety limits. The system has been extensively characterized in laboratory settings and validated through in vivo experiments using a porcine model, demonstrating reliable power transfer and effective robotic navigation in realistic gastrointestinal conditions: the average received power was 110 mW at a distance of 9 cm between the coils, with variable capsule rotation angles. The results confirm the feasibility of the proposed WPT approach for autonomous, battery-free robotic capsule endoscopy, paving the way for enhanced diagnostic in gastrointestinal medicine.

翻译：本文首次报道了集成于磁控机器人胶囊内窥镜平台的感应式无线能量传输（WPT）系统的体内验证。所提出的系统能够在不依赖机载电池的情况下持续为胶囊供电，从而延长操作时间并减小尺寸限制。该WPT系统通过谐振感应耦合机制工作，其发射线圈安装在机器人手臂末端执行器上，该执行器同时容纳外部永磁体和用于精确定位胶囊的定位线圈。为在存在线圈错位和旋转的情况下确保稳健稳定的能量传输，胶囊内集成了一个三维接收线圈。此外，基于负载移位键控（LSK）调制的闭环自适应控制系统动态调整发射功率，以优化效率，同时确保符合比吸收率（SAR）安全限值。该系统已在实验室环境中进行了全面表征，并通过猪模型的体内实验验证，在真实的胃肠道条件下展示了可靠的能量传输和有效的机器人导航性能：在线圈间距9厘米、胶囊旋转角度可变的情况下，平均接收功率达到110 mW。结果证实了所提出的WPT方法用于自主、无电池机器人胶囊内窥镜的可行性，为增强胃肠道医学诊断能力开辟了道路。