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CLC number: TH77

On-line Access: 2011-03-09

Received: 2010-04-06

Revision Accepted: 2010-07-23

Crosschecked: 2011-01-25

Cited: 1

Clicked: 5585

Citations:  Bibtex RefMan EndNote GB/T7714

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Journal of Zhejiang University SCIENCE A 2011 Vol.12 No.3 P.223-231


An approach to the capsule endoscopic robot with active drive motion

Author(s):  Da-qiang Gu, Yong Zhou

Affiliation(s):  Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   gudq@zju.edu.cn

Key Words:  Capsular endoscopy, Shape memory alloy (SMA), Microactuation, Locomotion

Da-qiang Gu, Yong Zhou. An approach to the capsule endoscopic robot with active drive motion[J]. Journal of Zhejiang University Science A, 2011, 12(3): 223-231.

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author="Da-qiang Gu, Yong Zhou",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T An approach to the capsule endoscopic robot with active drive motion
%A Da-qiang Gu
%A Yong Zhou
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%P 223-231
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%D 2011
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A1000141

T1 - An approach to the capsule endoscopic robot with active drive motion
A1 - Da-qiang Gu
A1 - Yong Zhou
J0 - Journal of Zhejiang University Science A
VL - 12
IS - 3
SP - 223
EP - 231
%@ 1673-565X
Y1 - 2011
PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.A1000141

Commercialized capsule-type endoscopes move passively by peristaltic waves (and gravity), which makes it difficult for doctors to diagnose the areas of interest more thoroughly and actively. To resolve this problem of passivity, it is necessary to find a special locomotion principle, which fits the gastrointestinal (GI) tract. In this paper, a legged locomotive mechanism with shape memory alloy (SMA) actuation based on the peristaltic principle is proposed, and then the structure of the locomotion mechanism is introduced. Based on the preliminary results, the design, modeling, and fabrication of an SMA microactuation concept for application in an endoscopic capsule are given, as well as the SMA spring and legged component design, which is the core section of the system design. We used the pseudo-rigid-body model (PRBM) to analyze nonlinear and large deflections of the SMA legged component. Thus, a prototype endoscope with an SMA spring and six legged components was designed and fabricated. It is 15 mm in diameter and 33 mm in total length, with a hollow space to house other parts needed for endoscopy such as a camera, a radio frequency (RF) module, and sensors. During testing, the locomotive mechanism was effective in a plastic tube environment.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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