Motion control research of internal force-static friction capsubot in intestine
文献类型：会议论文
| 作者 | Zhang C(张诚) ; Su G(苏刚); Li HY(李洪谊)
|
| 出版日期 | 2011 |
| 会议名称 | 2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011 |
| 会议日期 | May 22-25, 2011 |
| 会议地点 | Harbin, China |
| 关键词 | Biomechanics friction characteristic "Internal force-static friction" capsubot motion control robotics |
| 页码 | 346-351 |
| 中文摘要 | Capsule endoscopy plays a more and more important role in the diagnosis of diseases in gastro-intestinal (GI) tract. However, autonomic movement ability of the capsule endoscopy is needed in clinic urgently because of the defects of the passive capsule endoscope. We design a novel active capsule endoscopy (capsubot) called the ldquointernal force-static frictionrdquo capsubot that moves in way of impact. A physical simulation measurement system is fabricated to measure the friction when the capsubot moves in the intestine. According to the simulation results that based on the parameters we get from the experiment, we optimize the structure of the driver and control method. Then the capsubot can get the best motion effect in the intestine in vitro. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-9323-4 |
| 源URL | [http://ir.sia.cn/handle/173321/8789]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang C,Su G,Li HY. Motion control research of internal force-static friction capsubot in intestine[C]. 见:2011 IEEE/ICME International Conference on Complex Medical Engineering - CME 2011. Harbin, China. May 22-25, 2011. |
入库方式： OAI收割
来源：沈阳自动化研究所
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