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题名: Experimental Investigation of the Intestine's Friction Characteristic based on "Internal Force-Static Friction" Capsubot
作者: Zhang C(张诚) ; Su G(苏刚) ; Tan RJ(谭人嘉) ; Li HY(李洪谊)
作者部门: 机器人学研究室
会议名称: 2011 8th IASTED International Conference on Biomedical Engineering (BioMed)
会议日期: February 16-18, 2011
会议地点: Sbruck, Austria
会议主办者: IEEE
会议录: Proceedings of 8th IASTED International Conference on Biomedical Engineering (BioMed)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ
出版日期: 2011
页码: 117-123
收录类别: EI
ISBN号: 978-0-88986-866-3
关键词: Biomechanics ; Robotics ; "Internal force-static friction" capsubot ; Friction characteristic
摘要: Recently, the incidence of diseases in gastro-intestinal (GI) tract has increased annually. Capsule endoscopy plays an important role in the diagnosis of diseases in GI tract. However, the passive capsule endoscopy using in clinic has many shortcomings, so the active capsule endoscopy (capsubot) needs to be used in clinic urgently. The “internal force-static friction” capsubot moves in way of impact. We need to understand the bio-material property of the intestine in order to make the capsubot move efficiently. Especially, the friction characteristic exerts a greater influence. In the paper, we design and fabricate a physical simulation measurement system and analyze that how the diameter, mass, speed affect the friction between the moving capsubot and the intestine by means of experimental data analysis. As a result, we can offer the useful information optimize the design and the control algorithm of the capsubot.
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内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8696
Appears in Collections:机器人学研究室_会议论文

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