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Modeling and experimental characterization of propulsion of a spiral-type microrobot for medical use in gastrointestinal tract

Journal Article


Abstract


  • In this paper, a spiral-type medical robot based on an

    endoscopic capsule was propelled in a fluidic and tubular environment

    using electromagnetic actuation. Both modeling and experimental

    methods have been employed to characterize the propulsion

    of the robotic capsule. The experiments were performed not only

    in a simulated environment (vinyl tube filled with silicone oil) but

    also in a real small intestine. The effects of the spiral parameters

    including lead, spiral height, the number of spirals, and cross section

    of the spirals on the propulsion efficiency of the robot are

    investigated. Based on the transmission efficiency from rotation to

    translation as well as the balancing of the microrobot in operation,

    it is demonstrated that the robot with two spirals could provide

    the best propulsion performance when its lead is slightly smaller

    than the perimeter of the capsule. As for the spiral height, it is

    better to use a larger one as long as the intestine’s size allows.

    Based on the simulation and experimental results presented, this

    study quantifies the influence of the spiral structure on the capsule’s

    propulsion. It provides a helpful reference for the design and

    optimization of the traction topology of the microrobot navigating

    inside the mucus-filled small intestine.

Publication Date


  • 2013

Citation


  • Zhou, H., Alici, G., Than, T. Duc. & Li, W. (2013). Modeling and experimental characterization of propulsion of a spiral-type microrobot for medical use in gastrointestinal tract. IEEE Transactions on Biomedical Engineering, 60 (6), 1751-1759.

Scopus Eid


  • 2-s2.0-84877881535

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1543

Has Global Citation Frequency


Number Of Pages


  • 8

Start Page


  • 1751

End Page


  • 1759

Volume


  • 60

Issue


  • 6

Place Of Publication


  • United States

Abstract


  • In this paper, a spiral-type medical robot based on an

    endoscopic capsule was propelled in a fluidic and tubular environment

    using electromagnetic actuation. Both modeling and experimental

    methods have been employed to characterize the propulsion

    of the robotic capsule. The experiments were performed not only

    in a simulated environment (vinyl tube filled with silicone oil) but

    also in a real small intestine. The effects of the spiral parameters

    including lead, spiral height, the number of spirals, and cross section

    of the spirals on the propulsion efficiency of the robot are

    investigated. Based on the transmission efficiency from rotation to

    translation as well as the balancing of the microrobot in operation,

    it is demonstrated that the robot with two spirals could provide

    the best propulsion performance when its lead is slightly smaller

    than the perimeter of the capsule. As for the spiral height, it is

    better to use a larger one as long as the intestine’s size allows.

    Based on the simulation and experimental results presented, this

    study quantifies the influence of the spiral structure on the capsule’s

    propulsion. It provides a helpful reference for the design and

    optimization of the traction topology of the microrobot navigating

    inside the mucus-filled small intestine.

Publication Date


  • 2013

Citation


  • Zhou, H., Alici, G., Than, T. Duc. & Li, W. (2013). Modeling and experimental characterization of propulsion of a spiral-type microrobot for medical use in gastrointestinal tract. IEEE Transactions on Biomedical Engineering, 60 (6), 1751-1759.

Scopus Eid


  • 2-s2.0-84877881535

Ro Metadata Url


  • http://ro.uow.edu.au/eispapers/1543

Has Global Citation Frequency


Number Of Pages


  • 8

Start Page


  • 1751

End Page


  • 1759

Volume


  • 60

Issue


  • 6

Place Of Publication


  • United States