Design and implementation of a novel wireless modular capsule robotic system in pipe
Design and implementation of a novel wireless modular capsule robotic system in pipe
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DOI：
10.1007/s11517-020-02205-w
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发表时间：
2020-07-24
影响因子：
3.2
通讯作者：
Guo, Shuxiang
中科院分区：
文献类型：
--
作者：
Guo, Jian;Bao, Zihong;Guo, Shuxiang
胶囊内镜是诊断和治疗消化系统疾病的一种新型技术，具有无痛、微创的特点。然而，目前的胶囊机器人存在着体积过大、功能单一、缺乏主动运动控制等问题。提出并设计了一种新型的无线模块化管道胶囊机器人系统。模块化胶囊机器人通过三轴亥姆霍兹线圈产生的三维旋转磁场，在管道内沿轴向前后移动，在弯曲环境中转弯，实现交会和分离动作。本文分别对三轴亥姆霍兹线圈的驱动系统、电源控制系统以及模块化胶囊机器人的结构进行了分析和设计。最后，进行了一系列的表征实验，以评估模块化胶囊机器人的运动特性，包括模拟人体的胃肠运动的流动环境，输入信号的频率，以及不同的机器人的结构对模块化胶囊机器人的运动特性的影响，在本研究中。该研究还评估了机器人的转弯特性。实验结果表明，模块化胶囊机器人在不同环境下具有良好的运动特性，验证了模块化功能的有效性。
Capsule endoscopy is a new type of technology in the diagnosis and treatment of digestive diseases, with painless and low invasive features. However, current capsule robots have many problems, such as over-sized, single function and lack of active locomotion control. This study proposed and designed a new wireless modular capsule robotic system in pipe. The modular capsule robots could move forward and backward in the pipe in the axial direction, turn in a bending environment, and achieve the rendezvous and separation action through the three-dimensional rotating magnetic field generated by the three-axis Helmholtz coils. In this paper, the drive system of the three-axis Helmholtz coils, the power supply control system, and the modular capsule robot structure were analyzed and designed respectively. Finally, a series of characterization experiments were carried out to evaluate the motion characteristics of the modular capsule robots, including the influence of the flow environment imitated to human body's gastrointestinal motility, the frequency of the input signal, and the different structure of the robots on the movement characteristics of the modular capsule robot in this study. The study also evaluated the turning characteristics of robots. Experimental results showed that under different circumstances, modular capsule robots had good motion characteristics, and the effectiveness of the modular functionality had also been verified.