Design of a wireless anchoring and extending micro robot system for gastrointestinal tract
Article first published online: 11 MAR 2012
Copyright © 2012 John Wiley & Sons, Ltd.
The International Journal of Medical Robotics and Computer Assisted Surgery
Volume 9, Issue 2, pages 167–179, June 2013
How to Cite
Lin, W., Shi, Y., Jia, Z. and Yan, G. (2013), Design of a wireless anchoring and extending micro robot system for gastrointestinal tract. Int. J. Med. Robotics Comput. Assist. Surg., 9: 167–179. doi: 10.1002/rcs.1423
- Issue published online: 10 JUN 2013
- Article first published online: 11 MAR 2012
- Manuscript Accepted: 9 JAN 2012
- gastrointestinal tract;
- wireless power supply;
- anchoring and extending
Diagnosis and treatment using a conventional endoscope in the gastrointestinal (GI) tract are very common nowadays. However, endoscopy has some disadvantages.
This paper describes a wireless micro-robot for active locomotion in the GI tract. After design and analysis of the anchoring-extending gait, two mechanisms were developed to meet the gait requirements. These actuation and transmission mechanisms were demonstrated in detail to explain the gait implementation. The mechanisms were driven by a micro-brush direct current motor with a micro-normal module (m = 0.2 mm) gearbox. The force of the mechanisms was tested to guarantee the sufficiency of the gait and the safety of the robot. After mounting a dedicated video capture unit and wireless power receiving coils, in vitro experiments were conducted to show the feasibility of locomotion by wireless power supply.
The assembled micro-robot was 13 mm in diameter and 90 mm in length, with a velocity of 1 mm/s at 500 mW power consumption.
The proposed anchoring and extending intestinal micro-robot met the requirements of intestinal disease diagnosis and treatment. Copyright © 2012 John Wiley & Sons, Ltd.