论文标题
具有方向控制的振动撞击自行胶囊机器人的设计和实验研究
Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control
论文作者
论文摘要
本文提出了一个新型的设计和实验研究，用于自行胶囊机器人，该机器人可用于从患者直肠进行逆行进展过程中无痛结肠镜检查。可通道的机器人通过使用电磁执行器通过其内部振动和方向控制，将其向后驱动和向后驱动。执行器包含四组线圈和由永久磁铁制造的轴。轴可以以可控且倾斜的角度线性激发，因此可以指导机器人的进展方向。在这项工作中研究了两种控制策略，并通过模拟和实验进行了比较。提出了广泛的结果，以证明机器人的进展效率及其对机器人结肠镜检查的潜力。
This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward and backward via its internal vibration and impact with orientation control by using an electromagnetic actuator. The actuator contains four sets of coils and a shaft made by permanent magnet. The shaft can be excited linearly in a controllable and tilted angle, so guide the progression orientation of the robot. Two control strategies are studied in this work and compared via simulation and experiment. Extensive results are presented to demonstrate the progression efficiency of the robot and its potential for robotic colonoscopy.
