Hostname: page-component-586b7cd67f-2brh9 Total loading time: 0 Render date: 2024-11-23T10:49:43.175Z Has data issue: false hasContentIssue false
  • English
  • Français

Effect of operating parameters of a magnetically controlled spiral capsule robot on its performance

Published online by Cambridge University Press:  18 October 2021

Liang Liang Open the ORCID record for Liang Liang [Opens in a new window] ,
Puhua Tang ,
Yu Liu  and
Yan Xu
Liang Liang
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Puhua Tang
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Yu Liu
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
Yan Xu*
Affiliation:
College of Electromechanical Engineering, Changsha University, Changsha, 410022, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Abstract

A magnetically controlled spiral capsule robot is designed. When the robot is running in a pipe filled with mucus, computational fluid dynamics is used to analyze the fluid field (velocity, streamlines, and vorticity) in the pipe, and particle image velocimetry is used to measure the above fluid field surrounding the robot. The measured fluid field is basically similar to the numerical result. The relationship between the operating parameters of the robot and the performance of the robot is further calculated and analyzed. The results show that the resistance to the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic translational speed. The resisting moment of the robot in the forward direction, average turbulent intensity of the fluid surrounding the robot, and maximum fluid pressure to the pipe wall are proportional to the robotic rotational speed.

Keywords

Spiral capsule robotCFD (computational fluid dynamics)PIV (particle image velocimetry)Operating parameterVorticity
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1939 - 1950
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Iddan, G., Meron, G., A, et al., “Wireless capsule endoscopy,” Nature 405, 417 (2000).CrossRefGoogle ScholarPubMed
Guo, J., Bao, Z., Fu, Q., et al., “Design and implementation of a novel wireless modular capsule robotic system in pipe,” Med. Biolog. Eng. Comput. 58(10), 2305–2324 (2020).CrossRefGoogle ScholarPubMed
Liang, L., Peng, H., Chen, B., et al., “Performance analysis and parameter optimization of an inner spiral in-pipe robot,” Robotica 34(2), 361–382 (2016).CrossRefGoogle Scholar
Huda, M. N., Liu, P., Saha, C., et al., “Modelling and motion analysis of a pill-sized hybrid capsule robot,” J. Intell. Robot. Syst., 1–12 (2020).Google Scholar
Meng, Y., Yan, G., Jiang, P., et al., “A novel wireless power transfer system with two parallel opposed coils for gastrointestinal capsule robot,” Sens. Actuat. A Phys., 112413 (2020).CrossRefGoogle Scholar
Hoang, M. C., Le, V. H., Kim, J., et al., “Untethered robotic motion and rotating blade mechanism for actively locomotive biopsy capsule endoscope," IEEE Access 7, 93364–93374 (2019).CrossRefGoogle Scholar
Mousa, A., Feng, L., Dai, Y., et al., “Self-Driving 3-Legged Crawling Prototype Capsule Robot with Orientation Controlled by External Magnetic Field,” In: 2018 WRC Symposium on Advanced Robotics and Automation (WRC SARA) (IEEE, 2018) pp. 243–248.CrossRefGoogle Scholar
Gao, J. Y., Yan, G. Z., Shi, Y. B., et al., “Optimization design of extensor for improving locomotion efficiency of inchworm-like capsule robot,” Science China Technological Sciences 62(11), 1930–1938 (2019).Google Scholar
Son, D., Dong, X. and Sitti, M., “A simultaneous calibration method for magnetic robot localization and actuation systems,” IEEE Trans. Robot. 35(2), 343–352 (2018).Google Scholar
Yuan, S., Wan, Y., Mao, Y., et al., “Design of a Novel Electromagnetic Actuation System for Actuating Magnetic Capsule Robot,” In: IEEE International Conference on Robotics and Biomimetics (2019) pp. 1513–1519.Google Scholar
Li, J., Barjuei, E. S., Ciuti, G., et al., “Magnetically-driven medical robots: an analytical magnetic model for endoscopic capsules design,” J. Magnet. Magnet. Mater. 452, 278–287 (2018).Google Scholar
Pittiglio, G., Barducci, L., Martin, J. W., et al., “Magnetic levitation for soft-tethered capsule colonoscopy actuated with a single permanent magnet: a dynamic control approach,” IEEE Robotics and Automation Letters 4(2), 1224–1231 (2019).CrossRefGoogle ScholarPubMed
Zhou, H., Alici, G., Than, T. D., et al., “Modeling and experimental characterization of propulsion of a spiral-type microrobot for medical use in gastrointestinal tract,” IEEE Trans. Biomed. Eng. 60(6), 1751–1759 (2012).CrossRefGoogle ScholarPubMed
Ye, B., Zhang, W., Sun, Z., et al., “Study on a magnetic spiral-type wireless capsule endoscope controlled by rotational external permanent magnet,” J. Magnet. Magnet. Mater. 395, 316–323 (2015).CrossRefGoogle Scholar
Guo, B., Liu, Y. and Prasad, S., “Modelling of capsule–intestine contact for a self-propelled capsule robot via experimental and numerical investigation,” Nonlinear Dyn. 98(4), 3155–3167 (2019).CrossRefGoogle Scholar
Wang, Z., Guo, S., Fu, Q., et al., “Characteristic evaluation of a magnetic-actuated microrobot in pipe with screw jet motion,” Microsyst. Technol. 25(2), 719–727 (2019).CrossRefGoogle Scholar
Tang, P. H., Liang, L. and Xiang, Y. H., “Measurement and simulation of fluid flow field in the pipe of magnetic capsule robot,” Adv. Mech. Eng. 12(12), 1–13 (2020).Google Scholar
Fan, X. J., Liu, C. X., Xu, G., et al., “Experimental investigations of the spray structure and interactions between sectors of a double-swirl low-emission combustor,” Chin. J. Aeronaut. 33(2), 589–597 (2020).CrossRefGoogle Scholar
Blois, G., Bristow, N. R., Kim, T., et al., “Novel environment enables PIV measurements of turbulent flow around and within complex topographies,” J. Hydraul. Eng. 146(5), 04020033 (2020).CrossRefGoogle Scholar
Wang, F. J., Computational Fluid Dynamics Analysis – CFD Software Theory and Application (Tsinghua University Press, Beijing, 2004).Google Scholar
Li, J., Zhang, H. H., Zhang, H. L., et al., “Numerical simulation on vortical structures of electrolyte flow field in large aluminium reduction cells,” Chin. J. Nonferrous Metals 22(7), 2082–2089 (2012).Google Scholar
Liu, X. L., Han, Y. and Wu, G. X., “Dimethicone power applied under endoscopy in examination of upper gastrointestinal tract,” China J. Endoscopy 22(6), 44–46 (2016).Google Scholar