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

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.

Calibrated analytical model for magnetic localization of wireless capsule endoscope based on onboard sensing

“…Thus, the magnetic field B is merely a function g of position r. Further, the position r can be regarded as a function of the magnetic field data B, that is, r = g −1 (B E ). Then, the error is: (10) where…”

“…Nevertheless, the most current commercial capsule endoscopes provide only the functions of image transmission and passive navigation inside the human GI tracts [4,5]. The accurate localization of WCEs in real-time is still missing, which could significantly enhance their functionalities in diagnostic and therapeutic applications, such as localization of the malignant lesion, closed-loop feedback control of WCEs when navigating in the GI tracts, biopsy, fixed-point drug delivery, and non-invasive surgery [6][7][8][9][10][11][12][13].…”