Locomotion of medical micro robot with spiral ribs using mucus

Ikeuchi, Ken; Yoshinaka, Kiyoshi; Hashimoto, Susumu; Tomita, Naohide

doi:10.1109/mhs.1996.563427

Cited by 24 publications

(20 citation statements)

References 5 publications

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“…To verify the accuracy of the numerical calculation method employed, the authors compute the thrust forces indicated in the reference (Ikeuchi, et al, 1996). Figure 7 illustrates the contrast curve of the calculated values using the numerical method, while Figure 6 shows the experimental values of the reference (Ikeuchi, et al, 1996).…”

Section: Verifying the Accuracy Of The Adopted Numerical Methodsmentioning

confidence: 99%

“…Figure 7 illustrates the contrast curve of the calculated values using the numerical method, while Figure 6 shows the experimental values of the reference (Ikeuchi, et al, 1996). In the experiment, the silicone oil viscosity is 100 Pa·s, the width is 40 mm, and the ribbed plate length is 50 mm.…”

Section: Verifying the Accuracy Of The Adopted Numerical Methodsmentioning

confidence: 99%

“…Similarly, the rotational speed of the outer spiral robot is proportional to the robotic running speed, and the running speed is also proportional to the robotic axial thrust force (Ikeuchi, et al, 1996), thus, the case of the outer spiral robot is the same with the inner and outer spiral robot. …”

Section: Inner Spiral Rotational Speed and Outer Surface Rotational Smentioning

confidence: 99%

See 2 more Smart Citations

Research on a novel inner and outer spiral micro in-pipe robot

Liang

Chen

Tang

et al. 2014

JAMDSM

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This study proposes a novel inner and outer spiral micro in-pipe robot. The inner and outer spiral robot structure is designed. The fluid flow field in the turbulent pipe is solved through computational fluid dynamics method, and the accuracy of the adopted numerical method is verified. The influences of environmental (liquid density, liquid viscosity, pipe diameter, and eccentricity) and operating (inner spiral rotational speed, outer spiral rotational speed, and robotic running speed) parameters on the robot performance are numerically analyzed. Inner and outer spiral driving devices are designed and fabricated according to the working principle of the inner and outer spiral robot. In addition, the feasibility of the proposed robot is verified by performing an experiment in a pipe filled with 201 methyl silicone oil.

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Section: Verifying the Accuracy Of The Adopted Numerical Methodsmentioning

confidence: 99%

Section: Verifying the Accuracy Of The Adopted Numerical Methodsmentioning

confidence: 99%

Section: Inner Spiral Rotational Speed and Outer Surface Rotational Smentioning

confidence: 99%

See 1 more Smart Citation

Research on a novel inner and outer spiral micro in-pipe robot

Liang

Chen

Tang

et al. 2014

JAMDSM

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show abstract

“…To avoid this, an example of a locomotion system to be integrated into moving robots with spiral blade for biomedical applications was described in ref. [27], while the robot was rotated, fluid dynamic pressure and fluid dynamic protection membrane were generated by the fluid between the surface of the robot and the pipe inner wall, thus the robot was propelled forward by the fluid dynamic pressure without any hurt to the GI tract. Inspired by this non-invasive driving method, we developed a capsule robot with spiral blades, which is driven forward using rotating magnetic field [28].…”

Section: Introductionmentioning

confidence: 99%

Control strategy for multiple capsule robots in intestine

Zhang

Wang

Xiao-yan

et al. 2011

Sci. China Technol. Sci.

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Based on the critical gap phenomenon of the intestinal capsule robot, a variable-diameter capsule robot with radial gap self-compensation is developed in this paper. With the functional variation principle, a fluid dynamic pressure model satisfying the boundary conditions of the outer surface of capsule robot with screw blades is derived. The critical gap phenomenon is studied theoretically and experimentally based on the end effect and the dynamic balance characteristics of the fluid on the surface of capsule robot. The concept of start-up rotation speed is defined, the relationship between the start-up rotation speed and the spiral parameters of capsule robot is investigated. The strategy for implementing drive and control on several capsule robots under the same rotational magnetic field is proposed, and by defining the start-up curves of several capsule robots with the similar motion regulation as the objective functions, genetic algorithm is employed to optimize the spiral parameters of several capsule robots. Experiments have shown that the proposed drive and control strategy for several capsule robots can be implemented effectively. It has a good prospect of application inside intestine to realize the drive and control on several capsule robots for different medical purposes.variable-diameter capsule robot, radial gap compensation, critical gap phenomenon, start-up rotation speed, multiple capsule robot control Citation:Zhang Y S, Wang D L, Ruan X Y, et al. Control strategy for multiple capsule robots in intestine.

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“…In recent years, the development of medical robots in inspection and surgery has been increasingly directed toward the aged society. The study on the minimally invasive active robotic-endoscopy system has been a new aspect of robot techniques [1][2][3].…”

Section: Introductionmentioning

confidence: 99%

Analysis of actuating mechanics characteristics for a flexible miniature robot system

Yan

et al. 2008

Front. Mech. Eng. China

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Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft tube.

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Locomotion of medical micro robot with spiral ribs using mucus

Cited by 24 publications

References 5 publications

Research on a novel inner and outer spiral micro in-pipe robot

Research on a novel inner and outer spiral micro in-pipe robot

Control strategy for multiple capsule robots in intestine

Analysis of actuating mechanics characteristics for a flexible miniature robot system

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