Magnetic propulsion of a spiral-type endoscopic microrobot in a real small intestine

Zhou, Hao; Alici, Gürsel; Than, Trung Duc; Li, Weihua

doi:10.1109/aim.2012.6265872

Cited by 9 publications

(2 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the industrial and medical fields, most of the magnetic levitating motion requires precise and larger displacement of active motion control. However, there is no dynamic model for the actuating force generated by the rotating magnetic field in current studies, and the control implementation is insufficient [11,12]. Relying on the special structure of the controlled object under the action of an external magnetic field, the object rotates in the liquid to generate a propulsive force, thereby realizing the levitating motion of the controlled object [13,14].…”

Section: Introductionmentioning

confidence: 99%

Magnetic Levitation Actuation and Motion Control System with Active Levitation Mode Based on Force Imbalance

Liu

Lü

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

Accurate large-displacement magnetic levitation actuation and its stability remain difficult in non-liquid environments. A magnetic levitation actuation and motion control system with active levitation mode is proposed in this paper. The actuating force of the system is generated by the external magnetic field. A neural network proportion-integration-differentiation (PID) controller is designed for active actuation, and a force imbalance principle is built for the step motion mode. Dual electromagnetic actuators are configured to generate a superimposed magnetic field, ensuring that the electromagnetic force on the ball is more uniform and stable than single actuators. Dual-hall-structure sensors are used to measure displacement, thereby reducing overshoot and ensuring stability whilst motivating the ball. Due to the high adaptability of the neural network to complex systems with nonlinear and ambiguous models, the PID controller composed of neurons has stronger adaptability through tuning the PID controller parameters automatically. Furthermore, the proposed controller can solve the shortcoming that the deviation between the controlled object and the steady-state operating point increases and the tracking performance deteriorates rapidly. The strong robustness and stability in active levitation and motion control is achieved during both ascending and descending processes.

show abstract

Section: Introductionmentioning

confidence: 99%

Magnetic Levitation Actuation and Motion Control System with Active Levitation Mode Based on Force Imbalance

Liu

Lü

et al. 2023

Applied Sciences

View full text Add to dashboard Cite

show abstract

“…In our previous work, 12,13 we have proposed a spiral-type magnetic capsule (shown in Figure 1). We have found that the sliding friction between the capsule and the intestine plays an important role in determining its locomotion capability.…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation into biomechanical and biotribological properties of a real intestine and their significance for design of a spiral-type robotic capsule

Zhou

Alici

Than

et al. 2014

Proc Inst Mech Eng H

Self Cite

View full text Add to dashboard Cite

This article reports on the results and implications of our experimental investigation into the biomechanical and biotribological properties of a real intestine for the optimal design of a spiral-type robotic capsule. Dynamic shear experiments were conducted to evaluate how the storage and loss moduli and damping factor of the small intestine change with the speed or the angular frequency. The sliding friction between differently shaped test pieces, with a topology similar to that of the spirals, and the intestine sample was experimentally determined. Our findings demonstrate that the intestine's biomechanical and biotribological properties are coupled, suggesting that the sliding friction is strongly related to the internal friction of the intestinal tissue. The significant implication of this finding is that one can predict the reaction force between the capsule with a spiral-type traction topology and the intestine directly from the intestine's biomechanical measurements rather than employing complicated three-dimensional finite element analysis or an inaccurate analytical model. Sliding friction experiments were also conducted with bar-shaped solid samples to determine the sliding friction between the samples and the small intestine. This sliding friction data will be useful in determining spiral material for an optimally designed robotic capsule.

show abstract

Modeling and experimental investigation on the mechanical behavior of a spiral-type capsule in the small intestine

Zhou

Alici

Than

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

View full text Add to dashboard Cite

Magnetic propulsion of a spiral-type endoscopic microrobot in a real small intestine

Cited by 9 publications

References 17 publications

Magnetic Levitation Actuation and Motion Control System with Active Levitation Mode Based on Force Imbalance

Magnetic Levitation Actuation and Motion Control System with Active Levitation Mode Based on Force Imbalance

Experimental investigation into biomechanical and biotribological properties of a real intestine and their significance for design of a spiral-type robotic capsule

Modeling and experimental investigation on the mechanical behavior of a spiral-type capsule in the small intestine

Contact Info

Product

Resources

About