Cargando…

Development of Multiple Capsule Robots in Pipe

Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenge...

Descripción completa

Detalles Bibliográficos
Autores principales: Guo, Shuxiang, Yang, Qiuxia, Bai, Luchang, Zhao, Yan
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6187822/
https://www.ncbi.nlm.nih.gov/pubmed/30424192
http://dx.doi.org/10.3390/mi9060259
_version_ 1783363094138847232
author Guo, Shuxiang
Yang, Qiuxia
Bai, Luchang
Zhao, Yan
author_facet Guo, Shuxiang
Yang, Qiuxia
Bai, Luchang
Zhao, Yan
author_sort Guo, Shuxiang
collection PubMed
description Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities.
format Online
Article
Text
id pubmed-6187822
institution National Center for Biotechnology Information
language English
publishDate 2018
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-61878222018-11-01 Development of Multiple Capsule Robots in Pipe Guo, Shuxiang Yang, Qiuxia Bai, Luchang Zhao, Yan Micromachines (Basel) Article Swallowable capsule robots which travel in body cavities to implement drug delivery, minimally invasive surgery, and diagnosis have provided great potential for medical applications. However, the space constraints of the internal environment and the size limitations of the robots are great challenges to practical application. To address the fundamental challenges of narrow body cavities, a different-frequency driven approach for multiple capsule robots with screw structure manipulated by external electromagnetic field is proposed in this paper. The multiple capsule robots are composed of driven permanent magnets, joint permanent magnets, and a screw body. The screw body generates a propulsive force in a fluidic environment. Moreover, robots can form new constructions via mutual docking and release. To provide manipulation guidelines for active locomotion, a dynamic model of axial propulsion and circumferential torque is established. The multiple start and step-out frequencies for multiple robots are defined theoretically. Moreover, the different-frequency driven approach based on geometrical parameters of screw structure and the overlap angles of magnetic polarities is proposed to drive multiple robots in an identical electromagnetic field. Finally, two capsule robots were prototyped and experiments in a narrow pipe were conducted to verify the different motions such as docking, release, and cooperative locomotion. The experimental results demonstrated the validity of the driven approach for multiple capsule robots in narrow body cavities. MDPI 2018-05-25 /pmc/articles/PMC6187822/ /pubmed/30424192 http://dx.doi.org/10.3390/mi9060259 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Guo, Shuxiang
Yang, Qiuxia
Bai, Luchang
Zhao, Yan
Development of Multiple Capsule Robots in Pipe
title Development of Multiple Capsule Robots in Pipe
title_full Development of Multiple Capsule Robots in Pipe
title_fullStr Development of Multiple Capsule Robots in Pipe
title_full_unstemmed Development of Multiple Capsule Robots in Pipe
title_short Development of Multiple Capsule Robots in Pipe
title_sort development of multiple capsule robots in pipe
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6187822/
https://www.ncbi.nlm.nih.gov/pubmed/30424192
http://dx.doi.org/10.3390/mi9060259
work_keys_str_mv AT guoshuxiang developmentofmultiplecapsulerobotsinpipe
AT yangqiuxia developmentofmultiplecapsulerobotsinpipe
AT bailuchang developmentofmultiplecapsulerobotsinpipe
AT zhaoyan developmentofmultiplecapsulerobotsinpipe