Exploiting reprogrammable nonlinear structural springs for enhancing the manoeuvrability of a vibro-impact capsule robot

IF 4.3 2区工程技术 Q1 ACOUSTICS

Journal of Sound and Vibration Pub Date : 2024-10-24 DOI:10.1016/j.jsv.2024.118775

Yujia Zhang , Jiajia Shen , Yao Yan , Jingzhong Tong , Reece Lincoln , Lei Zhang , Yang Liu

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引用次数: 0

Abstract

Vibro-impact capsule robots, propelled by rhythmic collisions of an internal mass triggered by an external magnetic field, are emerging as promising tools for minimally invasive surgery. This innovative actuation mechanism allows for delicate interaction with tissues, making them ideal candidates for navigating confined surgical spaces. However, their limited manoeuvrability and controllability remain significant hurdles, restricting their ability to navigate complex anatomies and perform precise interventions, ultimately hindering their broader clinical applications. This paper investigates the integration of reprogrammable structural springs in capsule robots, demonstrating how dynamic tuning can tailor the interaction between the inner mass and the capsule, thereby unlocking enhanced manoeuvrability and precise control of the capsule robot. A mathematical model describing the dynamic response of a vibro-impact capsule robot integrated with von Mises trusses (VMT), which are used to tailor the interaction between the inner mass and the capsule, is developed and verified using finite element modelling. Using the verified mathematical model, we explore how the transition between mono-stability and bi-stability of VMTs affects the capsule robot’s propelling performance. Our findings demonstrate that this state switch enables four distinct propulsion modes of the capsule robot. This work paves the way for a new paradigm in small-scale robot design by incorporating reprogrammable nonlinear structures. These structures empower the robots with unprecedented manoeuvrability and controllability within a compact, deployable form factor.

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利用可重新编程的非线性结构弹簧增强振动冲击胶囊机器人的操纵性

振动撞击胶囊机器人是由外部磁场触发内部质量发生有节奏的碰撞而推动的，正在成为微创手术的理想工具。这种创新的驱动机制允许与组织进行微妙的互动，使它们成为在狭窄手术空间内导航的理想选择。然而，它们有限的可操作性和可控性仍然是重大障碍，限制了它们导航复杂解剖结构和执行精确干预的能力，最终阻碍了它们更广泛的临床应用。本文研究了在胶囊机器人中集成可重新编程的结构弹簧的问题，展示了如何通过动态调节来调整内部质量和胶囊之间的相互作用，从而增强胶囊机器人的机动性和精确控制。我们建立了一个数学模型，描述了一个集成了冯-米塞斯桁架（VMT）的振动冲击胶囊机器人的动态响应，并使用有限元建模进行了验证。利用经过验证的数学模型，我们探讨了 VMT 单稳态和双稳态之间的转换如何影响胶囊机器人的推进性能。我们的研究结果表明，这种状态转换可使胶囊机器人实现四种不同的推进模式。这项研究通过采用可重新编程的非线性结构，为小型机器人设计的新范例铺平了道路。这些结构使机器人在紧凑、可部署的外形尺寸内具有前所未有的机动性和可控性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Sound and Vibration 工程技术-工程：机械

CiteScore

9.10

自引率

10.60%

发文量

551

审稿时长

69 days

期刊介绍： The Journal of Sound and Vibration (JSV) is an independent journal devoted to the prompt publication of original papers, both theoretical and experimental, that provide new information on any aspect of sound or vibration. There is an emphasis on fundamental work that has potential for practical application. JSV was founded and operates on the premise that the subject of sound and vibration requires a journal that publishes papers of a high technical standard across the various subdisciplines, thus facilitating awareness of techniques and discoveries in one area that may be applicable in others.