Design and testing of a novel gastrointestinal microrobot
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Design and testing of a novel gastrointestinal microrobot Wei Wang 1
&
Guozheng Yan 1 & Ding Han 1 & Yicun Meng 1 & Pengxian Pu 1
Published online: 17 November 2020 # Springer Science+Business Media, LLC, part of Springer Nature 2019
Abstract In order to improve the reliability, safety and whole digestive applicability of the gastrointestinal microrobot (GMR), a novel inchworm-like GMR is proposed in this paper. The expanding mechanism of the robot adopts an overlapping expanding arm structure. This structure increases the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) of the robot to 3.3, making the robot more applicable to the intestines in various parts of the human body. The mechanical model of the expanding arm is established, and the expanding force at different expanding radii is obtained. And then the expanding force is tested by a force test platform. The force test results: the maximum expanding force is 6.5 N, and the minimum expanding force is 1.3 N. The trend of the experimental and theoretical values is the same, and the experimental value is less than the theoretical value. A position limiting device based on Hall sensor is designed, which detects whether the mechanism reaches the limit position by non-contact method. This device alleviates the problem of sharp voltage drop caused by motor stall and improves the stability of the control circuit. The results of the Hall-type position limiting device (HPLD) testing show that the working currents of the expanding mechanism and the telescoping mechanism with HPLD are respectively 0.066A and 0.110A, and the robot control circuit works stably. Finally, the robot is tested in the intestine of the living pig, and the safety and reliability of the robot are verified. However, due to the decrease of the efficiency of wireless power transmission in vivo experiments and the change of the position of the receiving coil relative to the transmitting coil, sometimes the power supply is insufficient. Keywords Gastrointestinal microrobot . Expanding mechanism . Hall sensor . Wireless power transmission . In vivo experiment
1 Introduction The incidence and mortality of gastrointestinal malignant tumors are increasing year by year, which has seriously threatened people’s health and even life (Bray et al. 2018; Siegel et al. 2019). Early detection and non-invasive diagnosis are the focus of current research on this type of disease. Traditional endoscopy has some problems, such as missed inspection, painful process and serious complications. The capsule endoscope could not actively move in the intestinal tract and could not perform fixed-point detection in the gastrointestinal tract (VALDASTRI et al. 2012). Active locomotion, expanding and anchoring in the whole digestive tract will be two key technologies for a new generation of gastrointestinal microrobot (GMR).
* Guozheng Yan [email protected] 1
Shanghai Jiao Tong University, Shanghai, China
The active motion technology of gastrointestinal robots currently has magnetic trac
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