A Wireless Multiple Modular Capsule Robot

Abstract

Wireless capsule robots, traveling in water or other aqueous mediums, have been urgently demanded in biomedical field. Many advancements to self-propelling mechanisms have shown that these small scale robots are well-suited for use in channels. However, the space constraint of the internal environment of body cavities and the size limitation of the millimeter scale robots are great challenges in medical application. In this paper, a driven approach based on different start frequencies is proposed for a multiple modular capsule robot moving in pipe. The robot is designed with two modules. Composing driven permanent magnets (DPMs), these modules can be steered by rotational electromagnetic field generated by Helmholtz coils. More specifically, the multiple modular capsule robot forms new construction via docking mechanism. Joint permanent magnets (JPMs) are fabricated on both sides in the robot body. Dynamic model is utilized to research the start frequencies. Based on the different geometrical parameters of screw structure, these modules are able to set off at different start frequencies. The experiments are conducted in pipe filled with water to verify different motions such as combination and separation. The experimental results indicate that the multiple modular capsule robot would be a promising way to perform complex surgeries and accomplish multifunctional operations.