The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases
Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal d...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-09-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/11/10/896 |
| _version_ | 1797552480642400256 |
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| author | Ding Han Guozheng Yan Zhiwu Wang Pingping Jiang Dasheng Liu Kai Zhao Jin Ma |
| author_facet | Ding Han Guozheng Yan Zhiwu Wang Pingping Jiang Dasheng Liu Kai Zhao Jin Ma |
| author_sort | Ding Han |
| collection | DOAJ |
| description | Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine. |
| first_indexed | 2024-03-10T16:00:42Z |
| format | Article |
| id | doaj.art-5111465fae5847f1ad2cd7943038afde |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T16:00:42Z |
| publishDate | 2020-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-5111465fae5847f1ad2cd7943038afde2023-11-20T15:16:13ZengMDPI AGMicromachines2072-666X2020-09-01111089610.3390/mi11100896The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal DiseasesDing Han0Guozheng Yan1Zhiwu Wang2Pingping Jiang3Dasheng Liu4Kai Zhao5Jin Ma6School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaSchool of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, ChinaIntestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine.https://www.mdpi.com/2072-666X/11/10/896intestinal micro-robotexpanding mechanismtelescoping mechanismkinematics and dynamics analysisin vitro experiments |
| spellingShingle | Ding Han Guozheng Yan Zhiwu Wang Pingping Jiang Dasheng Liu Kai Zhao Jin Ma The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases Micromachines intestinal micro-robot expanding mechanism telescoping mechanism kinematics and dynamics analysis in vitro experiments |
| title | The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases |
| title_full | The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases |
| title_fullStr | The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases |
| title_full_unstemmed | The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases |
| title_short | The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases |
| title_sort | modelling analysis and experimental validation of a novel micro robot for diagnosis of intestinal diseases |
| topic | intestinal micro-robot expanding mechanism telescoping mechanism kinematics and dynamics analysis in vitro experiments |
| url | https://www.mdpi.com/2072-666X/11/10/896 |
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