Zohreh Khodaee, Mohammad Reza Zakerzadeh, Mohammad Gafar Sedigh Damghanizadeh
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引用次数: 0
Abstract
Capsule endoscopy is a valuable medical tool for diagnosing gastrointestinal disorders by capturing images of the small intestine. However, capsule retention remains a significant challenge, leading to complications such as obstruction and surgery. This paper proposes an orient-controllable endoscopic capsule with internal actuation to overcome this issue. A dynamics model of the capsule is developed to analyze its orientation under the influence of internal electrical motors. This dynamics model is simulated in MATLAB Simulink software and compared with the system's simulation in Adams View software. The congruent outcomes substantiate the accuracy of the model. Additionally, the results affirm that the angular velocities of the internal rotors directly influence the capsule's orientation, showcasing the potential of utilizing internal motors to keep the capsule aligned with the intestine. We further investigate the resisting torques experienced by the capsule, considering viscoelastic stress from the intestine's deformation and hydrodynamics torque from the surrounding fluid. Incorporating PID controllers, the control system effectively adjusts the electrical voltage of the internal motors to achieve the desired orientation, which releases the capsule from retention. Experimental tests on a prototype capsule equipped with miniature DC motors reveal promising results, with the capsule rotating over 90° about its longitudinal and radial axes. The capsule's ability to rotate due to the activation of the internal motors highlights the potential application of the proposed internal actuation mechanism in controlling the capsule's orientation. The proposed orient-controllable capsule shows its capability to resolve capsule retention, paving the way for more precise and efficient capsule endoscopy applications. Furthermore, controlling the camera head of the capsule by controlling the capsule's orientation can increase the imaging quality.
期刊介绍：
Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.
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