Integrated Design and Decoupled Control of Anchoring and Drug Release for Wireless Capsule Robots

Song，Shuang1; Yuan，Sishen2; Zhang，Fan3; Su，Jingran4; Ye，Dongxu5; Wang，Jiaole6; Meng，Max Q.H.7

2022-10-01

10.1109/TMECH.2021.3125673

IEEE-ASME TRANSACTIONS ON MECHATRONICS   影响因子和分区

1083-4435

1941-014X

This article proposes a novel targeted-location drug delivery system for lower gastrointestinal (GI) tract (such as the small intestine) capsule robots. The proposed system takes a "2-in-1" approach that enables both the magnetically actuated anchoring and drug release by using only one internal magnet. The integrated design consists of a magnetically actuated decoupling module, an anchoring module, and a drug release module. The magnetically actuated decoupling module is equipped with two decoupling mechanisms at both ends, which can, respectively, provide one-way rotation for anchoring and drug release functions. The two functions can be decoupled controlled. The anchoring module can simultaneously extend two C-shaped anchoring legs, which can help the capsule anchor at a given position inside the GI tract without damaging it. The drug release module can load 1.6-mL liquid drug and quickly release all the drugs under the control of an external magnet. A capsule robot prototype of the proposed design has been built with 16-mm diameter and 50-mm length. Phantom and in vitro experiments on anchoring and drug release modules have been conducted and have validated the effectiveness of the proposed design and control method.

Capsule robot drug delivery magnetic actuation

SCI ; EI

英语

其他

National Key R&D Program of China[2019YFB1312400] ; National Natural Science Foundation of China[62173110]

Automation & Control Systems ; Engineering

Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical

WOS:000870418300067

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC

20214911286213

Controlled drug delivery ; Machine design ; Magnets ; Targeted drug delivery

Mechanical Design:601 ; Robotics:731.5

ENGINEERING

Web of Science

1.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055 China (e-mail: songshuang@hit.edu.cn).
2.Department of Electronic Engineering, The Chinese University of Hong Kong Hong Kong (e-mail: yuansishen@outlook.com).
3.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055 China (e-mail: zhang_fan_fz@163.com).
4.Department of Gastroenterology, Qilu Hospital, Cheloo College of Medicine, Shandong University, Jinan 250355 China (e-mail: taylor1943@163.com).
5.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055 China (e-mail: hit_yedongxu@163.com).
6.School of Mechanical Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen 518055 China (e-mail: wangjiaole@hit.edu.cn).
7.Southern University of Science and Technology, Shenzhen 518055 China and also with the Chinese University of Hong Kong Hong Kong and also with the Shenzhen Research Institute, The Chinese University of Hong Kong (Shenzhen), Shenzhen 518172 China and also with the (e-mail: max.meng@ieee.org).

Song，Shuang,Yuan，Sishen,Zhang，Fan,et al. Integrated Design and Decoupled Control of Anchoring and Drug Release for Wireless Capsule Robots[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2022,27(5):2897-2907.

Song，Shuang.,Yuan，Sishen.,Zhang，Fan.,Su，Jingran.,Ye，Dongxu.,...&Meng，Max Q.H..(2022).Integrated Design and Decoupled Control of Anchoring and Drug Release for Wireless Capsule Robots.IEEE-ASME TRANSACTIONS ON MECHATRONICS,27(5),2897-2907.

Song，Shuang,et al."Integrated Design and Decoupled Control of Anchoring and Drug Release for Wireless Capsule Robots".IEEE-ASME TRANSACTIONS ON MECHATRONICS 27.5(2022):2897-2907.