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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...
Autores principales: | , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2018
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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 |
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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 |
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