Autonomous Locomotion of Capsule Endoscope in Gastrointestinal Tract
- Autonomous Locomotion of Capsule Endoscope in Gastrointestinal Tract
- 양성욱; 박기태; 김진석; 김태송; 조일주; 윤의성
- Issue Date
- 33rd Annual International Conference of the IEEE EMBS
- , 6659-6663
- Autonomous locomotion in gastrointestinal (GI)
tracts is achieved with a paddling-based capsule endoscope. For
this, a miniaturized encoder module was developed utilizing a
MEMS fabrication technology to monitor the position of paddles.
The integrated encoder module yielded the high resolution of
0.0025 mm in the linear motion of the paddles. In addition, a PID
control method was implemented on a DSP to control the stroke
of the paddles accurately. As a result, the average accuracy and
the standard deviation were measured to be 0.037 mm and 0.025
mm by a laser position sensor for the repetitive measurements.
The locomotive performance was evaluated via ex-vivo tests
according to various strokes in paddling. In an in-vivo
experiment with a living pig, the locomotion speed was improved
by 58% compared with the previous control method relying on a
given timer value for reciprocation of the paddles. Finally, the
integrated encoder module and the control system allow
consistent paddling during locomotion even under loads in GI
tract. It provides the autonomous locomotion without
intervention in monitoring and controlling the capsule
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