Design of a wireless anchoring and extending micro robot system for gastrointestinal tract

Wang, Lin; Shi, Yuting; Jia, Zhang; Yan, Guozheng

doi:10.1002/rcs.1423

Cited by 22 publications

(25 citation statements)

References 37 publications

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“…However, the fact that the user is required to simultaneously control speed, orientation and arm angle means that controlling the robot, particularly around bends, is challenging. Precise, manual control is particularly difficult when the device rolls because this changes the user's axis of reference 7 . The issue of the lack of automation is highlighted by the slow average movement speed in both tubes: 4.9  1.7 mm/s (n = 5) in the first tube and 3.6 mm/s (n = 1) in the second tube.…”

Section: Discussionmentioning

confidence: 99%

“…A disadvantage could be reduced traction and the need for water-tight encapsulation. 7 Steering the device using the image from an on-board, forward facing camera will likely alleviate this problem as the view (image) is fixed to the axis of the robot. Future work will include:  Development of an advanced, semi-autonomous control system with sensor feedback.…”

Section: Discussionmentioning

confidence: 99%

“…Although this has the advantage of a small diameter, it is associated with low efficiencies and slow movement speeds [7]. It also requires contact with the surrounding lumen to anchor itself during locomotion, yet all devices thus far have not had a diameter that can be varied.…”

Section: Inchworm Techniquementioning

confidence: 99%

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RollerBall: A mobile robot for intraluminal locomotion

Norton

Hood

Neville

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-There are currently a number of major drawbacks to using a colonoscope that limit its efficacy. One solution to this may be to use a warm liquid to distend the colon during inspection. Another is to replace the colonoscope with a small mobile robot -a solution many believe is the future of gastrointestinal intervention. This paper presents RollerBall, an intraluminal robot that uses wheeled-locomotion to traverse the length of a fluid-filled colon. The device provides a central, stable platform within the lumen for the use of diagnostic and therapeutic tools. The concept is described in detail and the feasibility demonstrated in a series of tests in a synthetic colon.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

RollerBall: A mobile robot for intraluminal locomotion

Norton

Hood

Neville

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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“…The special design could save several millimeters of length compared to designs that position the wireless power system in the end of robot. 14,16 Additionally, this design does not increase the robot's diameter.…”

Section: Design and Analysis Of The Ammmentioning

confidence: 96%

“…Chen, Lin, Gao designed a type of RCE respectively, whose locomotion were based on the principle of inchworm-like motion. 12,14,16 The RCEs were designed for different district of intestine and possessed different kinds of radial motion mechanisms. Wang presented an RCE based on the principle of earthworm-like motion with diameter of 10 mm and length of 190 mm.…”

Section: Introductionmentioning

confidence: 99%

A wirelessly powered expanding-extending robotic capsule endoscope for human intestine

Yan

et al. 2015

Int. J. Precis. Eng. Manuf.

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Instruments for GI diagnostics are increasingly moving toward robotic capsule endoscopes because of their locomotion capabilities. This paper presents a wirelessly powered robotic capsule endoscope that can actively move in the small bowel exploiting the expanding-extending principle. After analyzing the demands of the locomotion, a novel radial motion mechanism with a large expanding/retracting radial ratio was designed, as was an axial motion mechanism with a compact structure. A control system with a special position detector to let the micro-motors avoiding stall state was developed to enhance the stability of the mechanism and reduce the robot's power requirements. The wireless power system enabled the robot to inspect the full length of the intestinal tract. The assembled micro-robot was 14 mm in diameter and 45 mm in length. The maximum anchoring diameter was 32 mm, and the axial telescopic length was 9.5 mm. The test results proved the feasibility of the robot.

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