Design and analysis of a wireless power transfer system for capsule robot using an optimised planar square spiral transmitting coil pair

The wireless power transfer system (WPTS) is a promising way to continuously provide efficient and stable power for gastrointestinal capsule robots with active movement ability.The proposed WPTS using an optimised planar square spiral transmitting coil pair with space-saving structure can flexibly adjust the distance between the coils according to the patient's condition, and thus has better applicability. To improve power transfer efficiency and uniformity of the generated magnetic field, design parameters are discussed and optimised based on the analytical calculation and simulation analysis.The power demand can be guaranteed with spacing distance of 350-500 mm and the peak received power of 1124 mW with a remarkable transfer efficiency of 7.8% can be obtained when the spacing reaches the minimum. The human electromagnetic exposure safety in different situations is also discussed and verified.The WPTS can provide power for capsule robots safely and efficiently.