System Design And Motion Control Of Leg Capsule Robot

Gastrointestinal diseases are currently high-risk diseases in humans.At present,gastroscopy and colonoscopy are the main diagnostic routes for gastrointestinal diseases.The methods of intubation and insufflation may bring great discomfort to patients.With the development of mechatronics and biomedical engineering,medical devices are developing in a more scientific,miniaturized and user-friendly manner,and capsule robots are also born.The capsule robot can be swallowed into the body according to the way of taking traditional medicine,and then the image collection is completed to assist the doctor to realize the diagnosis and treatment.However,the capsule robot relies on the peristalsis of the digestive tract itself to traverse the entire area to be detected,and the whole process is uncontrollable.In order to further improve the application convenience of the capsule robot,it is necessary to add a safe and reliable active drive module on the existing basis.This paper presents a capsule robot with a legged structure.Compared with the existing commercial capsule robots,this capsule robot can realize active driving,which combines the forward function,the stagnant erect function and the stretching function.Conversion between the three functional states can be achieved with simple start-stop control.The capsule robot with active drive module can greatly improve the doctor's diagnosis rate and further reduce the rate of misdiagnosis.On the other hand,the integration of stagnant erect function can provide stable and reliable support for capsule robots in future biopsy sampling,site-specific application and other medical operations in the stomach organs.In this paper,according to the surgical environment of the robot and the difficulties of the current capsule robot in the active drive,the design criteria for the whole leg device are put forward.According to these design criteria,the structural design of the leg device is completed.The analysis refines the design dimensions and performs prototyping and assembly.The final dimensions of the prototype are 39 mm × 13 mm due to motor size limitations.In view of the interaction between the device and the inner wall of the intestine during exercise,the contact force in the interaction process was tested and analyzed.The maximum contact force of 1.45 N is obtained by the two simulation methods of comprehensive simulation and physical experiment.Based on the contact force,the design of the end of the leg is optimized to ensure that the capsule robot does not damage the inner wall of the intestine during operation.In this paper,the research on capsule robot with legged device is proposed,and an effective and reliable structural design scheme is proposed,which will help to achieve active driving of the capsule robot and has a positive effect on the development of microintestinal assisted diagnosis and treatment robots.