Locomotion And Steering Design Of An Active Capsule Endoscope

Patients feel very painful and intolerable during the traditional endoscope inspection. There exists a risk of cross infection and injuring intestine and stomach, and because of the total length of intestine reaches up to several meters, it takes one day even more to complete the examination of the whole human intestine. This paper designs a simple and reliable drive agency, so as to achieve no injury drive and improve the moving velocity of endoscope robot. To make the robot examine key location completely and avoid ignoring some location, this paper designs an electromagnetic agency to control the swing of robot head, so as to enlarge the photographing range of robot, then robot is able to examine lesion in different directions. The inner cavity of human intestine is very small, therefore the volume of robot is up to more smaller naturally.This paper has designed the whole proposal of capsule endoscope robot Robot moves forward and backward by means of thrust which generates as spiral shell rotates in mucus of human intestine. If the moving velocity of spiral shell is improved, moving velocity of endoscope robot will be improved as well. A lubricant film of mucus will emerge,which separate spiral shell from the inner wall of intestine, achieving no injury drive. Robot controls swinging of head by electromagnetic attractive and exclusive principle,enlarging the photographing range of robot.This paper has designed the 3-D model of capsule endoscope robot using Pro/e, selected a micro motor, made a theory analysis about the system of straight line movement, computed theory value of robot moving velocity, and determined screw structure dimension of spiral shell. The fixed structure of motor body is designed, and the reasonable installation dimension of motor is determined. Again this paper has made a theory analysis about the system of swinging movement, and computed the electromagnetic force of electromagnetic agency using Ansys, ensuring the reliability to swinging movement of robot.Finally, this paper has drew all the drawings of endoscope robot, made out the robotic entity model with a volume ofφ1 8m m×50mm, completed the experiments of straight line and swinging movement by imitating human intestine and stomach environment, and made a comparison between experimental result and theory analysis.