Design and implementation of a novel wireless modular capsule robotic system in pipe

Guo, Jian; Bao, Zihong; Fu, Qiang; Guo, Shuxiang

doi:10.1007/s11517-020-02205-w

Cited by 22 publications

(11 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It follows that a change in velocity affects kinetic energy. Not all energy is converted into kinetic energy in the actual process, and part of the energy will be converted into heat energy due to resistance [ 31 ]:

…”

Section: Dynamic Modelmentioning

confidence: 99%

A Magnetically Capsule Robot for Biomedical Application

Zhang

et al. 2022

Applied Bionics and Biomechanics

Self Cite

View full text Add to dashboard Cite

Magnetic-driven capsule robot has been widely studied due to its advantages of safety and reliability. However, when doctors carry out clinical examination, the capsule robot cannot achieve the ideal control effect due to the influence of the external magnetic field air gap. This paper is based on the kinetic energy theorem, combined with the principle of spiral mechanism in mechanical design foundation to construct a calculation method of energy utilization and to improve the control effect of capsule robot, suitable for the human gastrointestinal tract precise control of capsule robot to perform a variety of complex tasks. By calculating the energy utilization rate of the capsule robot under the control of external magnetic field, the method can improve the energy utilization rate by improving the equation parameters, so that the capsule robot can run according to the doctor’s ideal performance in practical application. Based on the analysis of the magnetic driven screw capsule robot, the model of the utilization rate of the external magnetic field of the capsule robot is established, and the fluid simulation of the capsule robot is carried out by using the method of computational fluid dynamics. The simulation results and experimental results show that the control effect of capsule robot can be improved by calculating the energy utilization rate of the robot, which is of great significance to human clinical examination and treatment.

show abstract

…”

Section: Dynamic Modelmentioning

confidence: 99%

A Magnetically Capsule Robot for Biomedical Application

Zhang

et al. 2022

Applied Bionics and Biomechanics

Self Cite

View full text Add to dashboard Cite

show abstract

“…The four factors and five corresponding levels that affect the operating performance indicators of the capsule robot are shown in Table 3. Due to the size of the calculation required for 625 (5 4 ) numerical calculation schemes, 25 typical schemes were selected, as shown in Table 4. Each of the 25 groups of parameters of the robot system in Table 4 were modeled, meshed, and numerically calculated, and the corresponding operating performance indicators of the capsule robot were obtained.…”

Section: Orthogonal Numerical Calculationmentioning

confidence: 99%

“…The conventional active capsule robot has a smooth surface and cylindrical shape [ 3 ]. To improve the propulsive force of the capsule robot in an intestine filled with mucus, the researchers improved the structure of the capsule robot by using a spiral structure on its surface [ 4 , 5 ]. To allow the capsule to be fixed in place in the intestine, some capsule robots have legs or claws on their surface [ 6 , 7 ].…”

Section: Introductionmentioning

confidence: 99%

Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot

et al. 2021

View full text Add to dashboard Cite

Magnetically controlled capsule robots are predominantly used in the diagnosis and treatment of the human gastrointestinal tract. In this study, based on the permanent magnet method, magnetic driving and fluid measurement systems for in-pipe capsule robots were established. Using computational fluid dynamics (CFD) and particle image velocimetry (PIV), the fluid velocity and vorticity in the pipe of the capsule robot were calculated and measured. The running characteristics of the capsule robot were numerically analyzed in the curved pipe and the peristaltic flow. Furthermore, the range and variance method of orthogonal design was used to analyze the influence of four typical parameters (namely, pipe diameter, robotic translational speed, robotic rotational speed, and fluid viscosity) on the three operating performance indicators of the capsule robot (namely, the forward resistance of the robot, fluid turbulent intensity near the robot, and maximum fluid pressure to the pipe wall). In this paper, the relative magnitude and significance of the influence of each typical parameter on different performance indicators of the robot are presented. According to the different performance requirements of the robot, the different four parameter combinations are optimized. It is hoped that this work provides a reference for the selection of the appropriate mucus, translational speed, and rotational speed of the robot when it is working in pipes with different diameters.

show abstract

“…The locomotion of magnetic microrobots is achieved through control of magnetic forces and torques generated by systems composed of magnets or electromagnets [1], [2]. Three pairs of electromagnetic coils are typically used in a Helmholtz coil configuration [3], [4] for the generation of uniform magnetic fields (UMFs); however, the use of saddles coils is common too [5], [6]. As the electric current flowing in individual coils in each pair of UMF-generating coils is the same, in most cases, both coils are connected in series and controlled with a single power supply, resulting in a system with three pairs of coils and three power supplies.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Force-Propelled 3D Locomotion Control for Magnetic Microrobots via Simple Modified Three-Axis Helmholtz Coil System

Ramos-Sebastian¹,

Kim

2021

IEEE Access

View full text Add to dashboard Cite

Magnetic microrobots are propelled by magnetic fields or magnetic field gradients generated by electromagnetic systems. Generally, 3D Helmholtz coils systems are used for microrobot propulsion, because of their low power consumption, ease of manufacture, and ease of control, for which, only three power supplies are required. Systems of this kind can only generate uniform magnetic fields, which limits their range of applications. However, generating both uniform magnetic fields and gradients typically requires more coils and power supplies, resulting in large expensive energy-intensive systems with complicated control algorithms. Although the aforementioned systems can control magnetic robots with up to 6 degrees of freedom (DOFs), most existing applications at the micro/nanoscale only require 2 rotational DOFs and 1 translational DOF. Here, we propose a new control system capable of producing 3D uniform magnetic fields with 3 DOFs and 3D gradients with 1 DOF. With this system, one pair of coils in a traditional 3D Helmholtz coil system is modified, to enable independent control of the individual coils directing a selected axis, while the configuration of the remaining two pairs of coils is unchanged. This results in a control system with low power consumption, and a simple control algorithm that can be easily applied to existing 3D Helmholtz systems, as it only requires the addition of a power supply. In combination with the developed system, we also propose a new control algorithm applicable to both permanently and temporarily magnetized microrobots, and verify this experimentally.

show abstract

Design and implementation of a novel wireless modular capsule robotic system in pipe

Cited by 22 publications

References 27 publications

A Magnetically Capsule Robot for Biomedical Application

A Magnetically Capsule Robot for Biomedical Application

Orthogonal Optimal Design of Multiple Parameters of a Magnetically Controlled Capsule Robot

Magnetic Force-Propelled 3D Locomotion Control for Magnetic Microrobots via Simple Modified Three-Axis Helmholtz Coil System

Contact Info

Product

Resources

About