•  
  •  
 

Abstract

The theoretical of the stress of capsule was analyzed in viscous liquid environment. and studied the dynamic characteris-tics of magnetic drive capsules with different sizes of round and oval heads under fluid-solid coupling in intestinal environment. The effects on the capsule exercise stress were also studied from the gut dynamic viscosity, the capsule size and capsule shape by COMSOL. According to the principle of similar mechanical properties, using superelastic solid material, the intestinal fluid model and the intestinal wall model were designed by multiple factors and levels of numerical simulation experiments. Results: At the same level of dynamic viscosity and intestinal wall dimension parameters, oval head capsule driving resistance decreased about 12.8% compared to that of circular capsule.

Publication Date

2-28-2019

First Page

7

Last Page

10

DOI

10.13652/j.issn.1003-5788.2019.02.002

References

[1] 谭人嘉, 刘浩. 胶囊机器人与肠道准静态交互的临界滑动阻力研究[J]. 机器人, 2014, 36(6): 704-710.
[2] 谭人嘉, 刘浩, 李洪谊, 等. 胶囊机器人在小肠内启动的动力学分析[J]. 信息与控制, 2015, 44(5): 552-556.
[3] 李传国, 颜国正, 王坤东, 等. 主动可控内窥镜胶囊机器人研究[J]. 测控技术, 2010, 29(4): 90-93.
[4] 张雨, 张永顺. 黏性流体内花瓣型胶囊机器人驱动特性[J]. 现代机械, 2017(4): 4-7.
[5] 张永顺, 杨慧远. 磁场与视觉共融的多模态胶囊机器人人机交互控制[J]. 机器人, 2018, 40(1): 72-80.
[6] 迟明路, 张永顺. 花瓣型胶囊机器人空间转弯磁矩研究[J]. 华中科技大学学报: 自然科学版, 2018(4): 28-34.
[7] YAMASHITA M, HONDAT. Fabrication of magnetic microactuators for cytology brush built into capsule endoscope[J]. Electronics & Communications in Japan, 2015, 98(4): 27-34.
[8] BOLOTNIK N N, NUNUPAROV A M, CHASHCHUK-HIN V G. Capsule-type vibration-driven robot with an electromagnetic actuator and an opposing spring: Dynamics and control of motion[J]. Journal of Computer & Systems Sciences International, 2016, 55(6): 986-1 000.
[9] 罗惕乾. 流体力学[M]. 3版. 北京:机械工业出版社, 2007: 213-217.
[10] 周丁华, 赵玮, 闫涛, 等. 人体肠道生物力学特性的研究[J]. 生物医学工程学杂志, 2006, 23(5): 1 017-1 019.
[11] 陈柏, 杨朋飞, 陈笋, 等. 模拟主动脉环境中仿生介入机器人力学性能研究[J]. 中国机械工程, 2009, 20(14): 1 712-1 716.

Share

COinS
 
 

To view the content in your browser, please download Adobe Reader or, alternately,
you may Download the file to your hard drive.

NOTE: The latest versions of Adobe Reader do not support viewing PDF files within Firefox on Mac OS and if you are using a modern (Intel) Mac, there is no official plugin for viewing PDF files within the browser window.