Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

M. Nazmul Huda; Pengcheng Liu; Chitta Saha; Hongnian Yu

doi:10.1007/s10846-020-01167-3

Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

M. Nazmul Huda, Pengcheng Liu, Chitta Saha, Hongnian Yu

Research output: Contribution to journal › Article › peer-review

25 Citations (Scopus)

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Abstract

This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.

Original language	English
Pages (from-to)	753-764
Number of pages	12
Journal	Journal of Intelligent and Robotic Systems
Volume	100
Issue number	3-4
Early online date	19 Mar 2020
DOIs	https://doi.org/10.1007/s10846-020-01167-3
Publication status	Published - Dec 2020

Bibliographical note

This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/.

Keywords

Anchoring mode
Capsule endoscopy
Hybrid capsule robot
In-vivo diagnosis
Legged mode
Legless mode
Medical robot
Modelling

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1007/s10846-020-01167-3Licence: CC BY

Huda_et_al_combinedFinal published version, 1.12 MBLicence: CC BY

Cite this

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title = "Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot",

abstract = "This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.",

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Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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