Design and testing of a novel gastrointestinal microrobot.

Biomedical Microdevices
Wei WangPengxian Pu

Abstract

In order to improve the reliability, safety and whole digestive applicability of the gastrointestinal microrobot (GMR), a novel inchworm-like GMR is proposed in this paper. The expanding mechanism of the robot adopts an overlapping expanding arm structure. This structure increases the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) of the robot to 3.3, making the robot more applicable to the intestines in various parts of the human body. The mechanical model of the expanding arm is established, and the expanding force at different expanding radii is obtained. And then the expanding force is tested by a force test platform. The force test results: the maximum expanding force is 6.5 N, and the minimum expanding force is 1.3 N. The trend of the experimental and theoretical values is the same, and the experimental value is less than the theoretical value. A position limiting device based on Hall sensor is designed, which detects whether the mechanism reaches the limit position by non-contact method. This device alleviates the problem of sharp voltage drop caused by motor stall and improves the stability of the control circuit. The results of the Hall-type position limiting device (HPLD) testing s...Continue Reading

References

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Nov 30, 2012·IEEE Transactions on Bio-medical Engineering·Stephen P Woods, Timothy G Constandinou
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Feb 16, 2015·Biomedical Microdevices·Qiang FuHidenori Ishihara
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Dec 22, 2016·Scientific Reports·Thanh Nho DoSoo Jay Phee
Jan 9, 2019·CA: a Cancer Journal for Clinicians·Rebecca L SiegelAhmedin Jemal

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