Study Of The Wireless Modular Capsule Robotic System In-pipe

Capsule endoscopy is a new type of technology in the diagnosis and treatment of the digestive diseases,with painless and low invasive features.However,current capsule robots have many problems,such as over-size,single function and lack of active locomotion control.In view of the above problems,this study proposed a new wireless modular capsule robotic system in-pipe.The control parameter information was transmitted to the power supply control system through the controller by the operator.Then the power supply control system converted the parameter to command and sent to the power supply under the same LAN.The wireless modular capsule robot with built-in permanent magnet was driven by the three-dimensional rotating magnetic field which was generated by the three-axis Helmholtz coils under the three-phase alternating current signal input from the power supply.In this study,the drive system of three-axis Helmholtz coils,the power supply control system and the modular capsule robot structure were analyzed and designed respectively.And movement characteristics of the modular capsule robot were evaluated experimentally.Firstly,in order to realize a rotating magnetic field to drive the active movement of the robot,the driving system of the three-axis Helmholtz coil was designed,and the generation principle and spatial distribution of the three-dimensional rotating magnetic field were analyzed in the study.The distribution of the rotating magnetic field in a three-dimensional coordinate system has been calculated and verified in Mathematica to ensure the rationality of the formula of the magnetic field in this study.Secondly,in order to effectively control the speed and direction of movement of the robot,this study designed and developed the power supply control system,including the driving of the external controller,the design of the three-dimensional control module and the design of the user interface of power supply control system.And the multi-threaded modules were designed for the querying for controller and power supply status parameters to ensure the real-time control and power information display.Thirdly,to solve the problem of over-size and single function of capsule robots,this study reduced the size of a single robot and modularized it,then designed and developed modular capsule robot prototypes,including the guide and the auxiliary robot.The modular interface was designed for the capsule robot to realize the feature of docking and separation between the guide robot and the auxiliary robot,and to analyze the feasibility of its modular function.And the feasibility of its modular function was analyzed.In this study,the dynamic model of a modular capsule robot in fluid was also established.The axial thrust of two robots rotating in the fluid was analyzed,which provided theoretical support for the motion of the modular capsule robot in the digestive tract.Finally,a series of characterization experiments were carried out to evaluate the motion characteristics of the modular capsule robots,including the influence of the flow environment imitated to human body's gastrointestinal motility,the frequency of the input signal and the different structure of the robots on the movement characteristics of the modular capsule robot in this study.The study also evaluated the turning characteristics of robots.Finally,the docking and separation experiments verified the effectiveness of the modular function of the guide and the auxiliary robot.Experimental results showed that under different circumstances,modular capsule robots had good motion characteristics,and the effectiveness of the modular functionality had also been verified.In future,with the development of medical and robot integration technology,and the acceleration of human life quality,the application of wireless capsule robots will become more and more widespread,which will replace traditional methods of gastrointestinal tract detection and become the primary choice of medical applications.