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Design, analysis, and testing of a motor-driven capsule robot based on a sliding clamper

Published online by Cambridge University Press:  17 August 2015

Jinyang Gao ,
Guozheng Yan ,
Su He ,
Fei Xu  and
Zhiwu Wang
Jinyang Gao*
Affiliation:
Department of Instrument Science and Engineering, Shanghai Jiaotong University, No. 800 Dongchuan Road, Shanghai, P. R. China
Guozheng Yan
Affiliation:
Department of Instrument Science and Engineering, Shanghai Jiaotong University, No. 800 Dongchuan Road, Shanghai, P. R. China
Su He
Affiliation:
Department of Instrument Science and Engineering, Shanghai Jiaotong University, No. 800 Dongchuan Road, Shanghai, P. R. China
Fei Xu
Affiliation:
Department of Instrument Science and Engineering, Shanghai Jiaotong University, No. 800 Dongchuan Road, Shanghai, P. R. China
Zhiwu Wang
Affiliation:
Department of Instrument Science and Engineering, Shanghai Jiaotong University, No. 800 Dongchuan Road, Shanghai, P. R. China
*
*Corresponding author. E-mail: [email protected]
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Summary

We propose a motor-driven capsule robot based on a sliding clamper (MCRSC), a device to explore the partially collapsed and winding intestinal tract. The MCRSC is powered by wireless power transmission based on near-field inductive coupling. It comprises a novel locomotion unit, a camera, and a three-dimensional receiving coil, all installed at both ends of the locomotion unit. The novel locomotion unit comprises a linear motion mechanism and a sliding clamper. The former adopts a pair of lead-screw and nut to obtain linear motion, whereas the latter anchors the MCRSC to a specific point of the intestinal tract by expanding its arc-shaped legs. The MCRSC is capable of two-way locomotion, which is activated by alternately executing linear motion and anchoring action. Ex vivo experiments have shown that the MCRSC is able to inspect the colon within a time frame of standard colonoscopy.

Keywords

Intestinal tractCapsule robotLinear motion mechanismSliding clamperMicro robotics
Type
Articles
Information
Robotica , Volume 35 , Issue 3 , March 2017 , pp. 521 - 536
Copyright
Copyright © Cambridge University Press 2015 

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