Optimized Design and Analysis of Active Propeller-driven Capsule Endoscopic Robot for Gastric Examination

Yi Zhang; Weihao Wang; Wende Ke; Chengzhi Hu

10.1109/ICRA48891.2023.10161057

2023-05-29

IEEE International Conference on Robotics and Automation (ICRA)

1050-4729

2577-087X

979-8-3503-2366-5

2023 IEEE International Conference on Robotics and Automation (ICRA)

2023-May

4689-4695

29 May-2 June 2023

London, United Kingdom

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Capsule endoscopic robot holds great promise for the early diagnosis of gastrointestinal diseases without causing discomfort to patients. However, currently available active capsule endoscopic robots suffer from issues such as complex structure, poor mobility, large size, and high cost, which have hindered their widespread adoption and resulted in a lower screening rate for gastrointestinal diseases. To address these challenges, this paper proposes a highly integrated propeller-driven capsule endoscopic robot (PCER) system that integrates STM32 processor, magnetic sensor, IMU, RF communication unit, and motor drive. The micro propeller of the PCER has been analyzed through finite element simulation to ensure its efficiency. FLUENT software has been utilized to simulate the fluid force acting on the PCER as it moves through a liquid medium. The results of the simulation are then used to determine the optimal pitch angle for the robot's movement. The thrust generated by the capsule robot propellers has been measured using a lever mechanism to investigate the relationship between the thrust and voltage applied to the motors. The experiments confirmed that the PCER is capable of performing flexible motions within fluid environments, such as changing pitch angle during movement, passing circular obstacles, horizontal motion, and spiral ascent. These findings demonstrate the feasibility of the proposed PCER as an effective tool for non-invasive early screening of gastrointestinal diseases.

Voltage measurement Fluids Costs Propellers Magnetic liquids Propulsion Gastrointestinal tract

第一

英语

EI ; CPCI-S

Shenzhen Science and Technology Program[JCYJ20190809144013494]

Automation & Control Systems ; Computer Science ; Engineering ; Robotics

Automation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Electrical & Electronic ; Robotics

WOS:001036713003092

20233514632265

Electric drives ; Endoscopy ; Propellers ; Robots

Medicine and Pharmacology:461.6 ; Mechanical Design:601 ; Robotics:731.5

IEEE

Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China

Yi Zhang,Weihao Wang,Wende Ke,et al. Optimized Design and Analysis of Active Propeller-driven Capsule Endoscopic Robot for Gastric Examination[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:4689-4695.