Robotic Active Capsule Endoscope (RACE): advanced design, fabrication and control

机器人主动胶囊内窥镜 (RACE)：先进的设计、制造和控制

• 批准号: 2105271
• 金额: --
• 依托单位: Queen Mary University of London
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2018
• 资助国家: 英国
• 起止时间: 2018 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2105271
• 关键词: Robotic; Active; Capsule; Endoscope; RACE

The project will investigate the development of two advanced RACE prototypes, wired and wireless versions, capable of forward, backward and rotational movements in a lower Gastrointestinal (GI) track phantom. The proposed prototypes will be designed and fabricated on the basis of reviewing the limitations of the current prototypes, fabricated using Queen Mary Innovation (QMI) Proof-of-Concept funding, to secure patents as guided by the QMI assigned patent attorney 'Kilburn and Strode'. The current prototypes are facilitated with basic control mechanism and advanced closed-loop control methodologies are required to be designed for smooth navigation of the RACE prototypes based on real-time position and orientation parameters sensing. Two methods will be investigated to obtain real-time position and orientation of the capsule: (i) accelerometer inserted inside the capsule and (ii) fluoroscopy. As a first step, a Proportional Integral and Derivative (PID) control method will be developed and implemented to establish the feasibility of feedback control of the capsule based on the obtained parameters. However, as the overall system is supposed to be highly nonlinear, a nonlinear control approach is expected to achieve better performance. As such, an artificial intelligence (AI) based such as fuzzy-logic based control approach will then be investigated. To reduce the possibility of tissue damage a nonlinear model predictive control (NMPC) approach incorporating (i) the model of the capsule and (ii) the model of the interaction dynamics between the capsule and GI tract surface will be investigated.

该项目将研究两种先进的RACE原型的开发，有线和无线版本，能够在下胃肠道（GI）跟踪体模中向前，向后和旋转运动。拟议的原型将在审查当前原型的局限性的基础上设计和制造，使用Queen玛丽创新（QMI）概念验证资金制造，以确保由QMI指定的专利律师“Kilburn and Strode”指导的专利。目前的原型是方便与基本的控制机制和先进的闭环控制方法，需要设计的RACE原型的平滑导航的基础上实时的位置和方向参数传感。将研究两种方法以获得胶囊的实时位置和方向：（i）插入胶囊内的加速度计和（ii）荧光透视。作为第一步，将开发并实施比例积分微分（PID）控制方法，以根据所获得的参数确定胶囊反馈控制的可行性。然而，由于整个系统被认为是高度非线性的，非线性控制方法有望实现更好的性能。因此，基于人工智能（AI），如基于模糊逻辑的控制方法，然后将进行调查。为了降低组织损伤的可能性，将研究结合（i）胶囊模型和（ii）胶囊与胃肠道表面之间的相互作用动力学模型的非线性模型预测控制（NMPC）方法。