Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments

Yujie Zhang; Tanyong Wei; Shujing He; Yuying Hong; Chengzhi Hu

10.1109/ROBIO58561.2023.10354617

2023

979-8-3503-2571-3

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

1-6

4-9 Dec. 2023

Koh Samui, Thailand

Colonoscopy is a widely used method for diagnosing bowel cancers, requiring coordinated efforts from medical professionals due to its invasive nature. In contrast, miniature capsule robots, measuring just a few centimeters, offer a less invasive diagnostic option by integrating multiple functions. However, current capsule robots face challenges with complex designs, limited mobility, size, and cost, which hinder their adoption and reduce gastrointestinal disorder screening rates. To address these issues, we introduce the vibration-driven capsule robot (VCR) with magnetic protruding bristle structures. Four simple components (shell structure, electronic components, permanent magnet, and magnetic soft bristles) are designed to improve the robot’s mobility in dry and wet environments. The magnetic bristle structures are inspired by flexible organisms and enhance the robot’s adaptability. The robot is propelled by centrifugal force from a vibration motor, allowing efficient movement along the intestinal tract while protecting the patient’s lining. The fabrication process of the magnetic soft bristles has been refined to optimize material ratios and enhance the robot’s performance. The vibration motor’s output is analyzed using load cells to ensure efficiency. For precise path planning, an external permanent magnet (EPM) is applied to guide the capsule’s direction. Experiments confirm the VCR’s versatility, performing fluid linear and curved motions in different environments. These findings underscore the feasibility of the VCR as a potent tool for non-invasive, timely screening of gastrointestinal disorders.

Vibrations Robot kinematics Propulsion Permanent magnet motors Permanent magnets Gastrointestinal tract Path planning

第一

EI

20240315404557

IEEE

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

Yujie Zhang,Tanyong Wei,Shujing He,et al. Development of a Vibration-driven Capsule Robot with Protruding Magnetic Bristles with Enhanced Adaptability in Wet and Dry Environments[C],2023:1-6.