Method for adjusting position and pose of capsule robot based on force feedback

A technology of capsule robot and posture adjustment, applied in medical science, endoscopy, diagnosis, etc., can solve problems such as loss of capsule control, damage to gastrointestinal tract, loss of magnetic connection, etc., to achieve smooth diagnosis process, relieve pain, The effect of avoiding damage
CN108577790AActive Publication Date: 2018-09-28BEIJING INSTITUTE OF TECHNOLOGYGY
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
BEIJING INSTITUTE OF TECHNOLOGYGY
Publication Date
2018-09-28

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Abstract

The invention provides a method for adjusting the position and pose of a robot by utilizing feedback force information. The method comprises the steps that if force sensing points are distributed in the circumferential direction of a capsule, the relative positions of a guiding magnet and the capsule robot are adjusted; and if the force sensing points are distributed in the axial direction of thecapsule, the relative positions and relative poses of the guiding magnet and the capsule robot are adjusted. According to the method, by adjusting the position and pose of the capsule robot, the capsule can keep the magnetic interaction action damage to the gastrointestinal wall cannot be caused, and the provided method has important clinical application value.
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Description

technical field

[0001] The invention belongs to the technical field of capsule endoscopes, and in particular relates to a method for adjusting the pose of a capsule robot based on force feedback. Background technique

[0002] The active capsule robot can realize the active control of its internal posture in the gastrointestinal tract, overcome the shortcomings of the passive capsule robot such as long diagnosis time, high missed detection rate, and lack of pertinence and selectivity, and has shown great promise in the detection of gastrointestinal diseases. big advantage. The capsule robot is placed in the gastrointestinal area of ​​the living body, and is embedded with a small magnet to guide the robot outside the living body. Through magnetic interaction, the capsule robot is pulled to move in the gastrointestinal area. This kind of external guiding magnet is used to control the movement of the capsule robot in the gastrointestinal tract. method has great advantages. How...

Claims

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