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Interaction model between capsule robot and intestine based on nonlinear viscoelasticity
Zhang C(张诚); Liu H(刘浩); Tan RJ(谭人嘉); Li HY(李洪谊)
作者部门机器人学研究室
关键词Intestine Capsule Robot Dynamic Mechanical Analyzer Nonlinear Viscoelasticity Interaction Model
发表期刊PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE
ISSN0954-4119
2014
卷号228期号:3页码:287-296
收录类别SCI ; EI
EI收录号20142517831684
WOS记录号WOS:000332705600008
产权排序1
资助机构National Natural Science Foundation of China [61105099]; National Technology R&D Program of China [2012BAI14B03]
摘要Active capsule endoscope could also be called capsule robot, has been developed from laboratory research to clinical application. However, the system still has defects, such as poor controllability and failing to realize automatic checks. The imperfection of the interaction model between capsule robot and intestine is one of the dominating reasons causing the above problems. A model is hoped to be established for the control method of the capsule robot in this article. It is established based on nonlinear viscoelasticity. The interaction force of the model consists of environmental resistance, viscous resistance and Coulomb friction. The parameters of the model are identified by experimental investigation. Different methods are used in the experiment to obtain different values of the same parameter at different velocities. The model is proved to be valid by experimental verification. The achievement in this article is the attempted perfection of an interaction model. It is hoped that the model can optimize the control method of the capsule robot in the future.
语种英语
WOS标题词Science & Technology ; Technology
WOS类目Engineering, Biomedical
关键词[WOS]FRICTIONAL RESISTANCE ; ENDOSCOPE ; DESIGN
WOS研究方向Engineering
引用统计
被引频次:7[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/14727
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Zhang C,Liu H,Tan RJ,et al. Interaction model between capsule robot and intestine based on nonlinear viscoelasticity[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE,2014,228(3):287-296.
APA Zhang C,Liu H,Tan RJ,&Li HY.(2014).Interaction model between capsule robot and intestine based on nonlinear viscoelasticity.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE,228(3),287-296.
MLA Zhang C,et al."Interaction model between capsule robot and intestine based on nonlinear viscoelasticity".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE 228.3(2014):287-296.
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