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A Multi-Functional Module-Based Capsule Robot

Authors :
Lingling Zheng
Zixu Wang
Takashi Tamiya
Shuxiang Guo
Source :
IEEE Sensors Journal. 21:12057-12067
Publication Year :
2021
Publisher :
Institute of Electrical and Electronics Engineers (IEEE), 2021.

Abstract

This paper proposes a main-functional module working concept for capsule robots, and the capsule robots consist of a main module and functional modules based on this concept. The main module drives the functional modules and provides guidance and support for the functional modules while the functional modules perform the specific diagnosis or treatment. In addition, we propose a novel single-function design concept, which enables different functional modules to have different functions according to the medical requirements. The diagnosis and treatment functions are separated, and they will allow each module to work more specifically and efficiently. Various functional modules can be selected according to medical requirements, and thus it can improve treatment efficiency and reduce medical costs. The single-function design concept eliminates the need to integrate multiple functions into one robot and decrease manufacturing difficulty. Besides, we present a novel docking-separation method to realize effective docking and rapid separation for capsule robots. It can also enable the docked robot to work in bent parts of intestinal tracts easily. A multimodule capsule robot (MCR) was fabricated and the performance was evaluated through experiments. Experimental results demonstrated that the robot modules could be controlled independently and could dock reliably and separate easily. Moreover, the MCR can prevent accidental separation and has potential applications in the clinical practices of intestinal tracts.

Details

ISSN :
23799153 and 1530437X
Volume :
21
Database :
OpenAIRE
Journal :
IEEE Sensors Journal
Accession number :
edsair.doi...........5d0367f4cf7b9ef0e113117f3e1b06f8
Full Text :
https://doi.org/10.1109/jsen.2021.3058354