A Multi-Functional Module-Based Capsule Robot

Lingling Zheng

doi:10.1109/JSEN.2021.3058354

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A Multi-Functional Module-Based Capsule Robot

2021-05-15

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DOI：10.1109/JSEN.2021.3058354

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Abstract

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This paper proposes a main-functional module working concept for capsule robots, and the capsule robots consist of a main module and functional modules based on this concept. The main module drives the functional modules and provides guidance and support for the functional modules while the functional modules perform the specific diagnosis or treatment. In addition, we propose a novel single-function design concept, which enables different functional modules to have different functions according to the medical requirements. The diagnosis and treatment functions are separated, and they will allow each module to work more specifically and efficiently. Various functional modules can be selected according to medical requirements, and thus it can improve treatment efficiency and reduce medical costs. The single-function design concept eliminates the need to integrate multiple functions into one robot and decrease manufacturing difficulty. Besides, we present a novel docking-separation method to realize effective docking and rapid separation for capsule robots. It can also enable the docked robot to work in bent parts of intestinal tracts easily. A multimodule capsule robot (MCR) was fabricated and the performance was evaluated through experiments. Experimental results demonstrated that the robot modules could be controlled independently and could dock reliably and separate easily. Moreover, the MCR can prevent accidental separation and has potential applications in the clinical practices of intestinal tracts.

Keywords:

Robots

Magnetic separation

Medical diagnostic imaging

Navigation

Medical services

Force

Endoscopes

Capsule robot

intestinal endoscopy

main-functional module

magnetic navigation

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