Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot

M. Nuzmul Huda, Pengcheng Liu, Chitta Saha, Hongnian Yu

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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.
Original languageEnglish
Number of pages12
JournalJournal of Intelligent & Robotic Systems
Early online date19 Mar 2020
Publication statusE-pub ahead of print - 19 Mar 2020

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© The Author(s) 2020

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