Design and implementation of a novel wireless modular capsule robotic system in pipe
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ORIGINAL ARTICLE
Design and implementation of a novel wireless modular capsule robotic system in pipe Jian Guo 1 & Zihong Bao 1 & Qiang Fu 1 & Shuxiang Guo 1,2 Received: 8 October 2019 / Accepted: 23 May 2020 # International Federation for Medical and Biological Engineering 2020
Abstract 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. Keywords Modular interface . Three-axis Helmholtz coils . Capsule robot . Power supply control system
1 Introduction In recent decades, with the progress of science and technology, wireless capsule endoscopic robots become an effective alternative to traditional endoscopic techniques [1]. Compared with the traditional endoscopic technology, wireless capsule endoscopy has many advantages [2]. The size of wireless capsule endoscopes is smaller than the traditional endoscopic, is easy to check, and has less impact on patients’ normal working life. The ideal capsule endoscopy robots need to be
* Qiang Fu [email protected] * Shuxiang Guo [email protected] 1
Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory, Tianjin International Joint Research and Development Center, Tianjin University of Technology, Binshui Xidao, Tianjin 391, China
2
Faculty of Engineering, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 760-8521, Japan
responsible for gastrointestinal tract detection and treatment. Due to the small internal space, capsule robots need to integrate various sensors and microcontrollers into multiple functions, Therefore, a number of key technologies of wireless capsule robots are still to be solved. At present, various res
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