A Variable-Diameter Intestinal Capsule Robot Based on X Bars

Abstract

An intestinal capsule robot driven by non-contact rotating magnetic field with radial clearance compensation function was proposed. This robot was composed of four copper tiles linked together with robot body by X bars. When the robot rotated in the intestine, X bars of four copper tiles were extended synchronously by centrifugal forces to reduce radial clearance compensation of this robot. This radial clearance was existed between the surface of the capsule robot and the intestine inner wall. Experiments had demonstrated that the swimming speed of the capsule robot were significantly improved by effective reducing the dynamic pressure membrane thickness.