Control theorem of a universal uniform-rotating magnetic vector for capsule robot in curved environment

Zhang, Yongshun; Wang, Na; Du, Chun-Yu; Sun, Ying; Wang, DianLong

doi:10.1007/s11431-012-5088-y

Cited by 23 publications

(10 citation statements)

References 21 publications

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“…Newer propulsion results in ex vivo porcine large intestine were published in cooperation with Olympus Medical Corp. (2007). 140 Zhang et al 141,142 have also demonstrated a swimming spiral capsule with orientation and translational control driven by a 3D Helmholtz coil pair system. The blind prototype (12.5 9 25 mm 2 ) was tested in a fluid-filled spiraling pipe and in an ex vivo porcine large intestine.…”

Section: B3 Spiral-type Magnetic Capsulesmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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Section: B3 Spiral-type Magnetic Capsulesmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…Zhang et al [12,13] fabricated a new swimming spiral capsule with an inserted small magnet. The presented capsule prototype can be translated and oriented by a three-dimensional (3D) Helmholtz coil pair system.…”

Section: Introductionmentioning

confidence: 99%

Design and implementation of positioning and control systems for capsule endoscopes

Mohammed¹,

Sharif

Neasham

2020

IET Science, Measurement & Technology

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“…The snake-like type moves in a serpentine motion with series of actuated joints [13]. The screw type moves inside pipes with a helical motion like a bolt [14][15][16].…”

Section: Introductionmentioning

confidence: 99%

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

et al. 2015

Sci. China Technol. Sci.

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A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. screw drive, in-pipe robot, axiomatic design, tri-axial differential mechanism Citation:Li T, Ma S G, Li B, et al. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.

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Control theorem of a universal uniform-rotating magnetic vector for capsule robot in curved environment

Cited by 23 publications

References 21 publications

Magnetically guided capsule endoscopy

Magnetically guided capsule endoscopy

Design and implementation of positioning and control systems for capsule endoscopes

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

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