Motion control research of internal force-static friction capsubot in intestine

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Motion control research of internal force-static friction capsubot in intestine
	Zhang C(张诚); Su G(苏刚); Li HY(李洪谊)
	2011
会议名称	2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011
会议日期	May 22-25, 2011
会议地点	Harbin, China
关键词	Biomechanics friction characteristic "Internal force-static friction" capsubot motion control robotics
页码	346-351
中文摘要	Capsule endoscopy plays a more and more important role in the diagnosis of diseases in gastro-intestinal (GI) tract. However, autonomic movement ability of the capsule endoscopy is needed in clinic urgently because of the defects of the passive capsule endoscope. We design a novel active capsule endoscopy (capsubot) called the ldquointernal force-static frictionrdquo capsubot that moves in way of impact. A physical simulation measurement system is fabricated to measure the friction when the capsubot moves in the intestine. According to the simulation results that based on the parameters we get from the experiment, we optimize the structure of the driver and control method. Then the capsubot can get the best motion effect in the intestine in vitro.
收录类别	EI
产权排序	1
会议录	Proceedings of the 2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011
会议录出版者	IEEE
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-9323-4
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8789]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Zhang C,Su G,Li HY. Motion control research of internal force-static friction capsubot in intestine[C]. 见:2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011. Harbin, China. May 22-25, 2011.