SEMINAR REPORT 2019-2020

ACKNOWLEDGEMENT

While submitting this seminar report I would like to thank a few persons whose able advice
and co-operation made my work smoother. My foremost and heartier gratitude goes to our
principal, Mr. ABDUL HAMEED CP who provided me necessary facilities to proceed with
the seminar.

I hereby express my sincere gratitude to our Head of the Department of Electrical &
Electronics Engineering Mr. MUHAMMAD ASIF K and seminar guide Ms.SRUTHI K for
providing me with the entire necessary infrastructure to complete my seminar.

I hereby express my sincere gratitude to our tutor Mr. RAGESH P, Department of

Electrical & Electronics Engineering, for providing me with the entire necessary infrastructure
to complete my seminar.

I also express my sincere thanks to all the faculty members of Electrical and Electronics
Engineering Department for their kind co-operation and valuable suggestions during the
period of this work. I take this opportunity to thank all my friends who helped me throughout
this work and for their patient discussion and suggestion and for their timely aid.

Finally, I take opportunity to thank my parents for their blessings and suitable help.
Above all, I thank God Almighty for His abundant blessings without His blessings I would
not have been able to complete this venture

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ABSTRACT

Developing miniature robots that can carry outversatile clinical procedures

inside the body under the remoteinstructions of medical professionals has been a long
timechallenge. In this paper, we present origami-based robots thatcan be ingested into
the stomach, locomote to a desired location,patch a wound, remove a foreign body,
deliver drugs, andbiodegrade. We designed and fabricated composite materialsheets for
a biocompatible and biodegradable robot that can beencapsulated in ice for delivery
through the esophagus, embed adrug layer that is passively released to a wounded area,
and beremotely controlled to carry out underwater maneuvers specificto the tasks using
magnetic fields. The performances of therobots are demonstrated in a simulated physical
environmentconsisting of an esophagus and stomach with properties similarto the
biological organs.

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CONTENTS

ACKNOWLEDGEMENT 1
ABSTRACT 2
LIST OF FIGURES 4

CHAPTER 1-INTRODUCTION 5

CHAPTER 2-RELATED WORK 7

CHAPTER 3-STOMACH SIMULATOR 8

ARTIFICIAL STOMACH FABRICATION 8
ULCER FORMATION 10

CHAPTER 4-ROBOT DESIGN AND REMOTE CONTROL 12

ROBOT ARCHITECTURE 12
ICE CAPSULE TRANSPORTATION 13
MATERIAL SELECTION 14
IN-CAPSULE ROLLING MOTION CONTROL 15
DERIVATION TO CLIMB A BATTERY 17
WALKING MOTION CONTROL FOR THE DELIVERER 19

CHAPTER 5-EXPERIMENTAL RESULTS 20

ROBOT DEPLOYMENT VIA CAPSULE MELTING 20
ICE CAPSULE’S ROLL AND FOREIGN BODY DISLOCATION 21
DELIVERER’S WOUND PATCHING 21

CHAPTER 6-ADVANTAGES AND DISADVANTAGES 22

ADVANTAGES 22
DISADVANTAGES 22

CONCLUSION 23

REFERENCES 24

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LIST OF FIGURES

FIG.NO NAME PAGE.NO

1 The developed system 5
2 Developed artificial esophagus and stomach 8
(top) and details of the artificial mucosa
(bottom).
3 Tissue Testing and stiffness characteristics 10
4 Damage on a meat wall caused by a button 11
battery. (a) Time lapseimages, (b) battery and
the created wound, and (c) the hole.
5 Ice capsule and deliverer. Ice capsule is colored 13
with food coloringfor video
recording purpose.
6 Deliverer’s biodegradability. The deliverer is 15
partially placed insimulated gastric fluid for 3
hours showing biodegradability.
7 Working diagram 16
8 Task performances. 19

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CHAPTER 1
INTRODUCTION

Miniature origami robots can provide versatile capabilitiesfor gastrointestinal

interventions, especially whenused inconjunction with imaging technologies, as they can
move andmanipulate with a high degree of control and be minimallyinvasive for the patient.
Our previous work has demonstrated a mobile origami robot that self-folds, is
remotelycontrollable, and can be dissolved to be recycled. In thispaper we design and control
a new origami robot that canbe swallowed and sent through the esophagus to the stomach (to
reach alocation of interest where it can use its body to patch a woundsuch as an inflammation
made by an accidentally swallowedbattery.

Fig. 1 The developed system

An iced robot is transported into an artificialstomach. Once the ice melts and
the robot is deployed, the robot is controlledusing a remote magnetic field. The robot removes
a foreign body, such asa button battery, from the location and further treats an inflammation
bydelivering a drug.

Origami robot designs are well suited for tasks thatrequire multiple modalities of locomotion,
such as travelingthrough the esophagus and the stomach, because they can dothe first task in
a compact shape (e.g. a pill shape) and thenmorph to enable a solution for the second task.
Additionally,building on our work described in we can manipulatethe trajectory of the robot
using an external magnetic field.these techniques for creating origami robotsprovide a non-
invasive method for clinical interventions.One example of clinical interventionswhere a
multifunction miniature robot is desired is theingestion of buttonbatteries.

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It is reported that more than 3500 people of all agesingest button batteries in
the United States every year, and theincidence is growing (National Capital Poison
Center;).46 deaths and 183 cases with severe esophageal or airwayburns and subsequent
complications have been reported inthe last 40 years. Most of the victims are children.
Havingconsidered the fatality of these accidents and the availabilityof efficient interventional
tools to counteract them, thisstudy approached the problem by deploying a
miniaturebiodegradable origami robot in the stomach, guided to awounded location, where it
had the ability to remove a lodgedbattery, patch and effectively administer drugs directly to
thewounded location, and eventually dispose itself on-site bybiodegradation or
digestion.There are several design, fabrication, modeling and controlchallenges we address in
this work: Miniature robot bodydesign, bypassing the integration of conventional electronics;
Method for intact, instant, and compact transportation toan affected area and minimum
invasiveness of the robot Soft and 2D material selection, deployment and
(mechanically)functional robot design; Method for non-invasiveremote control signal
transmission and remote actuation; After-operation in-situ removal or biodegradable
materialselection. This paper contributes Material composition fora biodegradable and
biocompatible robot; Concept of ice-encapsulated robot for safe transportation into the
stomach; Deployable origami design for wide range affected areacoverage, developed fit- in-
capsule origami robot design andfabrication, integrating a drug delivery layer;
Remotemagnetic control for rolling and underwater walking; Physics modeling and analysis
of the robots dynamics; Pilot tests with an artificial stomach and esophagus createdusing a
new silicone molding process.

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CHAPTER 2
RELATED WORK

There is considerable progress in interventional technologies for the

gastrointestinal tract. For example, capsuleendoscopy is one of the representative
advancements in thisfield focused on embedding vision into engineered capsulesthat can be
transported through the gastrointestinal tract fordiagnosis, thus replacing current tethered
endoscopes .[These technologies can visualize a largepart of the gastrointestinal lining. Some
current technologiestargeted for use inside the body include ophthalmologicrobots ,
esophageal robotic implants , and origamistents .Large efforts are still directed toward micro-
surgical tools that are minimally invasive, biocompatible,multifunctional, and well accepted
by patients. Due to difficulty with current treatment procedures,there is a need for miniature
surgical robots that, asidefrom diagnosis, can potentially perform multiple medicalor surgical
tasks in vivo such as non- invasive transportationand deployment in a targeted location,
mechanical operationson tissues or fluids, such as delivery, insertion and inflation ,
microanchoring or gripping , removal,patching, piercing, sampling, and biodegradation.
Origamirobots promise to provide solutions to most of these taskswith minimal on-board
electronics.

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CHAPTER 3
STOMACH SIMULATOR

In this study, we have developed a physical environmentfor testing the

performance of our robotic system, comprisedof an artificial esophagus and a silicone
stomach that featurea biologically-comparable stiffness and folded lining inside(Fig. 2). The
artificial organs provide a nonperishable,realistic, cost-effective environment for iterative
tests of thestructure and function of the robot, and allow easyparameterization of the artificial
environment, such as thesize of the organs and location of the damaged area. Thissection
shows the recipe to produce such an environment,which we could not find in the literature.

Artificial stomach fabrication

Fig. 2 Developed artificial esophagus and stomach (top) and details of the artificial
mucosa (bottom).

The stomach is a muscular and hollow organ of thedigestive system,

responsible for breaking down food. Fig. 2(top) shows an overview of the artificial stomach
and amagnification of lining folds (bottom). Following the sizespecifications of an average
human stomach, the stomachhas a maximum width of 10 cm. We reproduced the
stomachenvironment using a template silicone mold technique to bemechanically analogous
to the real tissues. In this study, weput emphasis on the mechanical attributes of the
stomachsuch as structure, sUtiffness, friction, fluid viscosity, and color,while omitting other

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properties such as temperature, pH,peristaltic motion of the esophagus, or volumetric
dynamicsof the stomach.To define the design guidelines necessary to simulatethe real
environment, we experimentally investigated thestiffness of pig stomach samples. We
measured compressiveand tensile stresses of rectangular pig stomach samples(15 × 30 × 5
mm3, length×width×height) using an InstronMachine (Instron 5944). For compressive stress,
a rectangu-lar iron bar with a contact area of 11 × 14 mm2 was used to apply pressure to the
tissue, and for tensile stress, gripperswith a rough surface (built using rapid prototyping) of
size40 × 30 mm2 were used to grip the slippery tissues whenstretched (Fig. 3 (a),(b),
respectively). The pig’s stomachwas fresh (within 24 hours from collection) and preservedat
−4◦C before being used.
Fig. 3 (c)(d) shows the plots characterizing the stiffnessproperties of the
biological and artificial stomach tissues,depending on the mechanical deformation applied,
i.e., com-pressive and tensile stress. We computed the average fittedlines for the biological
stomach profiles, resulting in theequations S [kgf] = 0.72 C [mm] − 1.06 and S [kgf] =0.04 E
[mm] − 0.19 for compression and extension, re-spectively. In the case of the biological
stomach, we onlyconsidered the initial tissue deformation depicted by thefirst increasing
curve, given the limited tissue deformationcapabilities expected from our robot. These values
weremost closely matched with Ecoflexmolding silicone whoseaverage fitted lines were S
[kgf] = 1.03 C [mm] + 0.68 andS [kgf] = 0.01 E [mm] + 0.07 for compression and extension,
respectively. These equations show that a reasonablematch between the stiffness of the
biological and artificialstomach samples was achieved.Themoldtemplates of the esophagus
and stomach were3D printed (Fortus by Stratasys, 250 mc and 400 mc) usinga market
available CAD model (Turbosquid). We first 3Dprinted molds of the outer and inner parts of
the stomachand esophagus. The inside mold was used to create areverse mold of the lining.
We used this latter mold andthe outside part to compose the final product. Mold Star 15Slow
(Smooth-On) was used to fabricate the reverse mold.The final product is made of Ecoflex 00-
30 (Smooth-On) tomatch the stiffness of the pig’s stomach, and colored withSilc Pig colors
Flesh PMS 488C and Yellow PMS 107C (2Flesh : 1 Yellow). The stomach wall has a
thickness rangingbetween 3.5 and 5.5 mm due to the ridges of mucosa.In general, the stomach
is filled with gastric fluid and thewalls of both the esophagus and the stomach are
lubricatedwith mucosa secretion and body fluids. Though the viscosityof gastric fluid can be
variable, when the stomach is filledwith water, its viscosity can be approximated as 1
centistoke.For the investigation of the biodegradability of the developedrobot, we used market
available Simulated Gastric Fluid(Fisher Scientific) which contains 0.2% sodium chloride
in0.7% hydrochloric acid solution (pH: 1.0 ∼ 1.4).

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Fig 3 Tissue stiffness characteristics Testing and Ulcer formation

This experiment assesses the prospective damage of thestomach wall caused by a

button battery that was accidentallyingested. In order to reproduce realistic inflammation ofthe
tissue, we generated a damaged area of an ex vivotissue using a button battery. We gently
sandwiched a buttonbattery (303 battery, 175 mAh) and tissue (ham slice, 2.3 mmthickness)
using two acrylic plates for 60 minutes.

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Fig. 4 Damage on a meat wall caused by a button battery. (a) Time lapseimages, (b)
battery and the created wound, and (c) the hole.

Fig. 4 (a) shows the time lapse of tissue wall damage,taken from the opposite
side of where the battery wasplaced. After a few minutes, air bubbles were observed at
theinterface between the battery and the tissue due to an electriccurrent flow. In 30 minutes,
degradation of the tissue wasobserved from the opposite side of the tissue. In 60 minutes,a
hole of 12 mm diameter was created (Fig. 4 (b),(c)), clearlydisplaying the danger of accidental
ingestion.

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CHAPTER 4
ROBOT DESIGN AND REMOTE CONTROL

We developed two types of origami robots, which we willfurther refer to as the

battery remover and the drug deliverer,respectively, for the treatment of stomach
inflammation. Theorigami designs were chosen to fold the robot such that theycan be
embedded in ice capsules which can be swallowed,carried to the stomach and dissolved. The
robots are controlled by an electromagnetic actuation system developed inour group [1]. The
actuation system consists of 4 cylindricalcoils, inclined 45◦, distanced 25 cm each center to
center,surrounding the center of the work stage, and placed at thelower hemisphere. By
running currents, a magnetic field ofvarious strengths and directions can be generated on
thework stage. We visually observe the position of the robot. Inreal clinical applications we
plan to employ a combinationof ultrasound, X-ray, and an array of hall effect sensors
tolocalize the position of the battery and the robot.The following sections explain the robot’s
architecture(Section IV-A), encapsulation (IV-B), material (Section IV-C), and control
(Sections IV-D and Section IV-E).

Robot architecture
In the first phase, the remover removes a battery from theinflammation spot to
prevent further damage of the stomachwall while the robot is in a capsule shape. The
remover,featuring a minimum supporting structure, is folded in anelliptic cylinder package
(Φ1 = 3 mm, Φ2 = 1 cm, 1 cmlong) and frozen. The shape allows rotational motion evenafter
the encapsulating ice melts. The structure contains adiametrically oriented cubic neodymium
magnet (edge lengtha = 3.2 mm) attached at the center of the robot’s structure.The remover is
fixed in an ice capsule for easy swallowingand digestion, expected for the short-lasting stay in
thestomach. After the patient swallows the ice capsule usingwater, the remover travels by
rolling in the stomach, actuatedby controlled magnetic fields and guided to the location ofthe
battery. It then grabs the battery by magnetic attraction,and dislocates it from the
inflammation site. The magnet-battery distance changes over time due to ice melting, altering
the magnitude and direction of torque transmitted to thebattery, thus enabling diverse lift
postures. In order to inducemaximum torque for lifting the battery, the magnet shouldbe
oriented planar to the battery (instead of perpendicular toit).

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Fig. 5 Ice capsule and deliverer. Ice capsule is colored with food coloringfor video recording
purpose.

After the battery and remover are removed from the bodythrough the gastrointestinal
tract, in a subsequent phase,the deliverer is sent to the stomach (Fig. 5). The roleof the deliverer
is to walk in the stomach and patch theinflammation site by landing on it, releasing a drug to
thedamaged area through the robot’s body degradation. In orderto effectively administer the
drug, the deliverer should have awide surface area covering the inflammation when
deployedfrom the ice capsule. An origami technique is used to designthe body as an accordion
shape. This body structure enablesthe robot to compactly fold inside the ice capsule and
expand5 times when deployed.The deliverer consists of 5 trapezoidal boxed segmentswhich can
be stacked and configured as a hexagonal cylinderby folding. The front and back o f the robot
are designedto be point symmetric such that it induces asymmetricfriction force along the body
axis (see Section IV-E). Therobot can locomote even when flipped. A cubic neodymiummagnet
is contained in the second segment. The magnet isoriented along the longitudinal axis of the
body to inducean asymmetric moment of inertia under a periodic magneticfield application. The
magnet is concealed when the bodyforms a hexagonal cylinder in an ice capsule.The deliverer
was pre-folded using the technique in [19]with a hot plate. When the layered flat body was
exposed toheat of 100◦C, the Biolefin layer shrunk causing the entirestructure to fold itself into
the final configuration withouthuman intervention. While the materials composing the bodyare
biodegradable (see Section IV-C), the entire body keepsits shape despite the temperature and
even in ice. After drugdelivery and robot degradation, the magnet can be removednaturally
through the gastrointestinal tract.

Ice capsule transportation

Ice capsule transportation has various advantages overother approaches such as
encapsulation by gelatin or sugar.First, it is safe and reduces friction while sliding through
theesophagus by peristalsis. Second, it disappears quickly andcompletely in vivo by melting
once it reaches the stomach,and thus it doesn’t hinder the robot’s motions unlike othermaterials,
which we realized to be critical. Third, it is easilyproduced.The ice capsule is27.0 mm long,
almost the same sizeas the 000 standard pill size (length= 26.14 mm, diameter=9.97
mm), and it melts in water on the order of a minuteto a few minutes depending on the
temperature. The size isdetermined such that the capsule (mass w = 2.55 g, volume2.22×10−6

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m3) sinks in water considering the robot’s weight(wr = 0.578 g), and is subject to scaling down
for childrens’use. For freezing an ice capsule robot, we first 3D printed acapsule from ABS
material. Then, we placed the capsule in asilicone mold, molded it, and retracted the capsule
from themold such that the mold retained a capsule-shaped hollowspace inside. We finally put
the robot in the hollow space,filled it with water, and froze it in a freezer.

Material selection
For in vivo use, the robot’s body needs to be composed ofbiocompabitle and
biodegradable materials. The deliverer’sbody is made of 5 different layers (Fig. 5);
polyolefinstructural layer (biodegradable (BD)), organic structurallayer (pig intestine wall,
Eastman outdoors, BD), drugincluding layer (simulated by oblate, PIP, water dissolvable), and
actuation layer for self-folding (heat sensitiveshrinking film Biolefin, National Shrinkwrap, BD,
deforms at65◦C), adhered by silicone adhesive layers (McMaster).Before the deliverer is self-
folded, the layers are laminatedsymmetrically by the Biolefin layer (see ).Choosing differing
biodegradable layers allows for layerdegradation at different time scales such that they fulfill
theiroperational requirements at designed time sequences. Theorganic structural layer is
expected to degrade at the slowestspeed while the drug doping layer is expected to
degradeconstantly and release the ingredient. Although the adhesivewe used is not medical
grade, silicone is a biocompatiblematerial. There are many medical grade, or edible
adhesivesoff the shelf which will be used for a future model. Note thatalthough all materials
were selected for their biodegradabilityor biocompatibility, further
investigationsonthemedicalgradesafety check are still required.Fig. 6 shows the degradation
process of the deliverer’sbody, partially placed in simulated gastric fluid set at bodytemperature
(37◦C) for 3 hours. Although the process tooka while, the remains of the deliverer (including
the magnet)are expected to be expelled from the body. The entire processshows that the
presence of the deliverer as a foreign bodyhas low probability to harm the gastrointestinal tract.
In realstomach, there exist enzymes such as pepsin, which shouldaccelerate the degradation
speed. For safety, no more thantwo magnets can be in the gastrointestinaltract at the sametime.

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Fig. 6 Deliverer’s biodegradability. The deliverer is partially placed insimulated gastric fluid
for 3 hours showing biodegradability.

In-capsule rolling motion control

The ice capsules and the deliverer are remotely actuatedby an electromagnetic
actuation system developed in ourgroup [1]. We developed two control modes: a rolling
modefor the ice capsules (Fig. 7 (a)), and a walking mode forthe deliverer (Fig. 7 (b)). In
rolling mode, an ice capsuleis actuated by applying a rotating magnetic field. Fig. 7(a)shows
the schematic of a magnet in a cylindrical structure(ice capsule) on a slope, carrying a load
(303 battery). Theslope has an angle θ, and the coordinate x is set alongthe slope. The
structure has radius R = 5.5 mm, lengthL = 27 mm, an angle φ from the vertical plane,
angularvelocity ω, coefficient of friction µf and an applied frictionbforce ff , and mass w =
2.55 g where the equivalent massin water is w′ = 0.33 g. The load has mass wL = 2.18 gwith
equivalent mass w′L = 1.63 g in water, and can beattached with either the longitudinal face of
the battery whosemagnet-battery distance LL will become LL = 11.24 mm, orcollateral face
whose distance will be LL = 8.19 mm.The neodymium magnet is cubic and has edge lengtha
= 3.2 mm, with dipole moment m = 29.8 × 10−3 Am2in our experiment and m = a3Msat =
33.9 × 10−3 Am2in theory (we use m = 29.8 × 10−3 Am2for calculations),whereMsat =
1.03×106A/m is the saturation magnetizationof a neodymium magnet. The rotating magnetic
flux densityhas absolute value of B, angle ψ from the vertical plane, and it generates magnetic
torque τB on the capsule. Thefluidic drag force fD and torque τD act on the capsule, andg =
9.81 m/s2. It is assumed that the density is homogeneousin the capsule.

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Fig 7 working diagram

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Derivation To Climb a Battery

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The most difficult situation is when the attachment occursbetween the capsule
and the side wall of the battery on anon-slope surface (LL = 11.24 mm, θ = 0). It requiresB
∼mT, which is relatively high. However, in a real case,there exist many options for carrying a
battery, for examplerotating the battery horizontally or rolling the capsule overthe battery.
Due to the strong attraction force of the magnet, we rarely observed slippage of the battery
regardless ofthe low friction of the ice. When slippage between the icecapsule and the
stomach surface occurs, the ice capsuleexploits the uneven configuration with the carried
batteryfor displacement.

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4.5 Walking motion control for the Deliverer

The walking motion is designed based on stick-slip motion on ground [1]. The
robot acts underwater and thusexperiences effects from moving in a low Reynolds
numberenvironment. Fig. 7 (b) illustrates the walking motion of thedeliverer seen from the
side. The walking motion is easierto control than the rolling motion with higher precision.The
magnetic field is applied at 5 Hz in the direction alongwhich the deliverer is actuated (the
positive x direction inthe figure) oscillating through four angles (Ψ, Ψ/2, −Ψ/2and −Ψ; Ψ =
1.1 rad is the angle from the horizontal plane).When such an alternating field is applied, the
deliverer can“walk forward” due to the combination of thrust, asymmetricfrictional force
induced by the shape between front and rear,and asymmetric mass balance of the body. More
precisely,one step motion consists of three distinctive phases; (phase1) the body is laid on the
ground; (phase 2) the body pointsdown following a downward-oriented magnetic field;
(phase3) the body points up following an upward-oriented magneticfield. From phase 1 to
phase 2, the deliverer lifts up the rearwhile the front is still in contact keeping the anchor
positionagainst thrust and exploiting the friction (stick motion). Thecenter of mass, assumed
to be at the location of the magnet,travels forward a distance ∼k(1−cos Ψ), where k = 8.7
mmis the distance between the center of the magnet and thefront edge. From phase 2 to phase
3, as a turn of magneticfield occurs instantly, and due to the relatively low
Reynoldsenvironment with negligibly light body mass compared to themagnet mass, the body
is expected to rotate about the magnetkeeping the height of the center of mass (slip motion).
Dueto the body balance shifted to the front and also dependingon the frequency of B, the
posture does not completelycatch up to the magnetic field, compared to the posturein phase 2.
Considering the thrust that acts to push thebody backward, this angle of magnetic field
pointing up isminimized. However if we set Ψ very small, for example∼ 0, the chance that the
deliverer stumbles on mucosaincreases. From phase 3 to phase 4 (which is the same stateas
phase 1), the deliverer exploits friction and low stroke,and enables further body travel.The
body length is L = 34.3 mm, the height H = 7.8 mm,and the width W = 16.7 mm. The
traveling distance D inone cycle without considering thrust is kinematically derivedand isD ≈
L − k cos Ψ − (L − k) cos (sin−1(k sin ΨL − k)). (12)With this function, the walking speed of
the deliverer isestimated to be 2.98 cm/s. Our experimental result showsthe walking speed to
be 3.71 cm/s. The difference is due tothe influence of thrust.

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CHAPTER 5
EXPERIMENTAL RESULTS

In this section we show proof of concept results for robot deployment via
capsule melting, removing a button batteryand patching a wound in the artificial stomach.

Robot deployment via capsule melting

Fig. 8 Task performances.

(a) An ice capsule was put into water at room temperature. Deliverer deployed
in about 3 minutes and was controlled forwalking motion. (b) Battery removal experiment.
The ice capsule containing remover thrown manually into the stomach was controlled
remotely andconnected to the button battery. The ice capsule successfully dislocated the
battery from the site. (c) Wound patching experiment. The thrown ice capsulecontaining
deliverer melted in about 3 minutes, transformed into deliverer, and subsequently moved onto
the wound.
The dissolution of the ice capsule and the deployed robot’s subsequent walking
motion are demonstrated in Fig. 8 (a)The deliverer was deployed in the stomach as an ice
capsule that facilitates the robot transportation by lowering frictionwith the walls of the
esophagus and by preserving the robot’s structure and properties. We tested melting the
capsule inliquids at a room temperature of 20◦C. The dissolution timevaries depending on the
water temperature. According toour measurements, it took ∼ 3 min at 22◦C, and ∼ 1 minat
28◦C (sample number = 5). Water at body temperatureshould accelerate the speed.
Immediately after the ice capsulemelted, the robot’s body started to be deployed. Once
therobot regained the original form, it showed a stable motionunderwater under the
application of a magnetic field.

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Ice capsule’s roll and foreign body dislocation
The ice capsule dislocating a button battery from thebattery-caused
inflammation site is shown in Fig. 8 (b). Assoon as the ice capsule that contained the deliverer
wasmanually transported to the stomach (00:00), the capsule wasactuated for rolling motion
by an external magnetic field andvisually guided to the button battery location. The ice
capsulethen connected to the battery, and subsequently dislocated thebattery (00:16∼00:20).
Note that during the operation, theice melted and continuously reduced the distance
betweenthe magnet of the deliverer and the battery, assisting torqueinductions of different
magnitudes and angles. After the icecapsule connected to the battery, they could be
dischargedout of the body through the gastrointestinal tract.

Deliverer’s wound patching

We employed the deliverer in the artificial stomach forthe treatment of the
artificially-created ulcer and showed theresult in Fig. 8 (c). In this proof of concept
experiment, anice capsule was transported through an esophagus (00:00)and melted in water
(23◦C) in the stomach; the delivererregained the target body form (02:46), walked (03:57),
andpatched (floated over the target location) over a simulatedulcer (04:04). Sometimes air
bubbles hindered deliverer fromdeployment, and thus we needed to let it tumb le for a
shortduration (between 02:46 and 03:57). We iterated the process5 times and obtained an
average duration of procedure com-pletion of ∼ 5 min. The demonstration proves the
conceptthat a biodegradable artificial robot can be dispatched intothe artificial stomach to
accomplish a mechanical task for amedical purpose.

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CHAPTER 6
ADVANTAGES AND DISADVANTAGES

ADVANTAGES
 Easily swallowed
 Moves smoothly by external magnetic field
 Has tiny flippers to swim around in stomach fluid
 Can be used to deliver medicines to specific part of the body
 It has faster procedure
 It has Vegan model
 No longer need magnets for control

DISADVANTAGES
 Can not carry large objects
 Foreign objects could not stuck
 It cause allergies
 It cause tearing

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CONCLUSION

In this paper, we present origami robots that are ingestibleand can be controlled
to move, manipulate, and accomplishclinically-relevant tasks, such as removing a foreign
bodyand patching a wound in the stomach. Our contributionsinclude the design and
fabrication of laminated biodegradable drug-including sheets for the robot’s body, a
methodfor ice encapsulation for robot delivery, control, actuationof rolling and locomotion
under water, physics models forthese motions, and experimental testing in a realistic
artificialenvironment. Our approach requires limited on-board electronics. These minimalist
robots enable minimally invasive clinical intervention, and greater flexibility and control in
thechoice of composite materials to fabricate biocompatible andbiodegradable robots that can
operate in vivo. Additionally,origami capabilities enable reconfigurability for minimalspace
occupancy and for accomplishing versatile mechanicaltasks controlled by an external remote
magnetic field.Our future work includes investigating the safety of ourmethod with respect to
long-term biodegradability, and removal and discharge of foreign objects in vivo.

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