Design and implementation of a highly integrated dual hemisphere capsule robot.
To achieve cancer screening in any appointed position in 3D regions of the gastrointestinal (GI) tract such as esophagus, stomach and colon, a highly integrated dual hemisphere capsule robot (DHCR) with a novel three-layer nested structure is proposed. Based on tracking effect, in which the robotic...
| Publicado en: | Biomedical Microdevices Vol. 24; no. 1; pp. 1 - 12 |
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| Autores principales: | , , , , , |
| Formato: | algorithm equations & formulas pictorial tables/charts Journal Article |
| Publicado: |
Springer Nature
Mar2022
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| Acceso en línea: | Ver este registro en EBSCOhost |
| fields | @attributes: recordID: 1 pdfLink: plink: https://search.ebscohost.com/login.aspx?direct=true&db=ccm&AN=154774451&site=ehost-live header: @attributes: shortDbName: ccm uiTerm: 154774451 longDbName: CINAHL Complete uiTag: AN controlInfo: bkinfo: dissinfo: jinfo: jid: 13872176 ODN jtl: Biomedical Microdevices issn: 13872176 maglogo: N pubinfo: dt: Mar2022 vid: 24 iid: 1 pid: 237 pub: Springer Nature place: New York, New York artinfo: ui: 154774451 154774451 154774451 10.1007/s10544-022-00611-5 154774451 ppf: 1 ppct: 11 formats: fmt: – @attributes: type: T – @attributes: type: P tig: atl: Design and implementation of a highly integrated dual hemisphere capsule robot. aug: au: Zhang, Yongshun Liu, Xu Liu, Guanxi Ji, Xuan Yang, Huiyuan Liu, Zhenhu affil: Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian, China sug: subj: Equipment Design Robotics Endoscopy, Gastrointestinal Methods Gastrointestinal Diseases Diagnosis Product Surveillance Program Implementation Cancer Screening Methods Wireless Communications Methods Algorithms ab: To achieve cancer screening in any appointed position in 3D regions of the gastrointestinal (GI) tract such as esophagus, stomach and colon, a highly integrated dual hemisphere capsule robot (DHCR) with a novel three-layer nested structure is proposed. Based on tracking effect, in which the robotic axis is likely to be approximately coincident with the orientation of the space universal rotating magnetic field (SURMF) using the gyroscope dynamic balance, the dual hemisphere structure realizes the observation at a fixed-point in the passive mode and the rolling locomotion in the active mode by the dynamic posture control of the SURMF manipulation. The image acquisition module, wireless transmission module and driving actuator are tuned in a spherical structure, making the DHCR more compact and less invasive. To verify the maneuverability of the innovative DHCR both for observation at a fixed-point and navigation in curved intestine by aid of image, experiments are conducted in the simulated GI tract environment. The results show that the DHCR achieves effective conversion between posture adjustment and rolling locomotion, which lays a foundation for all-over inspection and medical operation inside 3D regions of the GI tract of human body. pubtype: Academic Journal doctype: algorithm equations & formulas pictorial tables/charts Journal Article ougenre: Article language: English refInfo: holdings: @attributes: islocal: N |
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