TY - GEN
T1 - High Position Accuracy and 5 Degree Freedom Magnetic Driven Capsule Robot
AU - Hu, Hang
AU - Yang, Xiuping
AU - Song, Li
AU - Wei, Wenxuan
AU - Peng, Guanya
AU - Feng, Lin
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - The development and popularization of various medical robots provide an approach for minimally invasive interventional diagnosis and treatment. Here we present a square coil platform with more uniformed magnetic field, higher flexibility for control and easy to assemble. In order to realize the motion control of capsule robot in vivo, a permanent magnet has been put in the capsule robot, by adjusting the space magnetic field through the external electromagnetic coil system, the capsule robot could be controlled in 3-D with 5 degree of freedom, comparing with traditional circular coils used in most magnetic control systems. According to the modeling and simulation, the coil construction mode is designed and the system parameters have been confirmed. According to the experimental results, the magnetic control system is not only convenient to install and save space, but also can effectively control the movement of capsule robot in the simulated gastric environment, such as fixed-point scanning, linear point movement and so on. Meanwhile, a simple test by using somatosensory operation has been conducted. Overall, the motion accuracy of the capsule robot is less than 0.84 mm, which still has a lot of room for improvement; the fixed-point scanning orientation control can reach to 10 degree.
AB - The development and popularization of various medical robots provide an approach for minimally invasive interventional diagnosis and treatment. Here we present a square coil platform with more uniformed magnetic field, higher flexibility for control and easy to assemble. In order to realize the motion control of capsule robot in vivo, a permanent magnet has been put in the capsule robot, by adjusting the space magnetic field through the external electromagnetic coil system, the capsule robot could be controlled in 3-D with 5 degree of freedom, comparing with traditional circular coils used in most magnetic control systems. According to the modeling and simulation, the coil construction mode is designed and the system parameters have been confirmed. According to the experimental results, the magnetic control system is not only convenient to install and save space, but also can effectively control the movement of capsule robot in the simulated gastric environment, such as fixed-point scanning, linear point movement and so on. Meanwhile, a simple test by using somatosensory operation has been conducted. Overall, the motion accuracy of the capsule robot is less than 0.84 mm, which still has a lot of room for improvement; the fixed-point scanning orientation control can reach to 10 degree.
UR - https://www.scopus.com/pages/publications/85077822469
U2 - 10.1109/WRC-SARA.2019.8931946
DO - 10.1109/WRC-SARA.2019.8931946
M3 - 会议稿件
AN - SCOPUS:85077822469
T3 - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
SP - 19
EP - 24
BT - WRC SARA 2019 - World Robot Conference Symposium on Advanced Robotics and Automation 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2019
Y2 - 21 August 2019
ER -