A Locomotion Driving of the Capsule Robot in Intestinal Tract

摘要

For the fact of most capsule robots traveling in the intestinal tract is controlled by the natural peristalsis of gastrointestinal tract, which can't be controlled effectively with the peristalsis method, for the peristalsis capsule endoscope it can't be observed the suspicious lesions in detail and repeatable in the intestinal tract and also it can't be touched in some points, such as diverticulum in the intestinal tract. The paper presents a capsule robot locomotion driving movement controller method in the intestinal tract, which is by spiral lead-screw mechanism to propeller the capsule robot forward and backward movement.