Huda, M. Nuzmul, Liu, Pengcheng orcid.org/0000-0003-0677-4421, Saha, Chitta et al. (1 more author) (2020) Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot. Journal of Intelligent & Robotic Systems. ISSN 0921-0296
Abstract
This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © The Author(s) 2020 |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 20 Mar 2020 09:00 |
Last Modified: | 01 Mar 2025 00:06 |
Published Version: | https://doi.org/10.1007/s10846-020-01167-3 |
Status: | Published online |
Refereed: | Yes |
Identification Number: | 10.1007/s10846-020-01167-3 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:158617 |
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Filename: Huda2020_Article_ModellingAndMotionAnalysisOfAP.pdf
Description: Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot
Licence: CC-BY 2.5