Enhancing capsule endoscopy with an orient-controllable internal actuation mechanism: Proof of concept

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2025-01-25 DOI:10.1016/j.mechatronics.2025.103296

Zohreh Khodaee, Mohammad Reza Zakerzadeh, Mohammad Gafar Sedigh Damghanizadeh

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引用次数: 0

Abstract

Capsule endoscopy is a valuable medical tool for diagnosing gastrointestinal disorders by capturing images of the small intestine. However, capsule retention remains a significant challenge, leading to complications such as obstruction and surgery. This paper proposes an orient-controllable endoscopic capsule with internal actuation to overcome this issue. A dynamics model of the capsule is developed to analyze its orientation under the influence of internal electrical motors. This dynamics model is simulated in MATLAB Simulink software and compared with the system's simulation in Adams View software. The congruent outcomes substantiate the accuracy of the model. Additionally, the results affirm that the angular velocities of the internal rotors directly influence the capsule's orientation, showcasing the potential of utilizing internal motors to keep the capsule aligned with the intestine. We further investigate the resisting torques experienced by the capsule, considering viscoelastic stress from the intestine's deformation and hydrodynamics torque from the surrounding fluid. Incorporating PID controllers, the control system effectively adjusts the electrical voltage of the internal motors to achieve the desired orientation, which releases the capsule from retention. Experimental tests on a prototype capsule equipped with miniature DC motors reveal promising results, with the capsule rotating over 90° about its longitudinal and radial axes. The capsule's ability to rotate due to the activation of the internal motors highlights the potential application of the proposed internal actuation mechanism in controlling the capsule's orientation. The proposed orient-controllable capsule shows its capability to resolve capsule retention, paving the way for more precise and efficient capsule endoscopy applications. Furthermore, controlling the camera head of the capsule by controlling the capsule's orientation can increase the imaging quality.

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用方向可控的内部驱动机制增强胶囊内窥镜：概念验证

胶囊内窥镜是一种有价值的医疗工具，通过捕获小肠的图像来诊断胃肠道疾病。然而，囊保留仍然是一个重大的挑战，导致并发症，如阻塞和手术。为了克服这一问题，本文提出了一种具有内驱动的定向可控内窥镜胶囊。建立了胶囊的动力学模型，分析了胶囊在内部电机影响下的方向。在MATLAB Simulink软件中对该动力学模型进行了仿真，并与Adams View软件中的仿真结果进行了比较。一致的结果证实了模型的准确性。此外，研究结果证实，内部转子的角速度直接影响胶囊的方向，展示了利用内部马达保持胶囊与肠道对齐的潜力。我们进一步研究了胶囊所经历的阻力扭矩，考虑了肠道变形的粘弹性应力和周围流体的流体力学扭矩。结合PID控制器，控制系统有效地调节内部电机的电压，以达到所需的方向，从而释放胶囊。在装有微型直流电动机的原型胶囊上进行的实验测试显示，胶囊围绕其纵向和径向轴旋转超过90°，结果很有希望。由于内部马达的激活，胶囊的旋转能力突出了所提出的内部驱动机构在控制胶囊方向方面的潜在应用。所提出的方向可控胶囊显示了其解决胶囊滞留的能力，为更精确和高效的胶囊内窥镜应用铺平了道路。此外，通过控制胶囊的方向来控制胶囊的摄像机头可以提高成像质量。

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

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.