Modular Capsule Robot Motion Control via Magnetic Segmentation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current capsule robots for endoscopy face challenges such as limited functionality due to size constraints, difficulty in navigating the small and large intestines, and high power requirements, which hinder their effectiveness in medical applications, particularly in achieving multi-degree mobility and efficient inspection and treatment.
Innovation Solution
A modular motion control system for capsule robots that uses interconnected modules with permanent magnets for bi-directional movement, allowing for flexible assembly and disassembly within the digestive tract, enabling multi-degree mobility and efficient navigation through the use of an inchworm mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If various functions (camera module, movement module, power module, biopsy module) are accommodated in a single capsule robot, then multi-functionality is achieved, but the capsule size increases and power consumption rises
Solution Approach 1:
The system divides the capsule robot into multiple independent modules that can be swallowed separately and assembled in the body. Each module performs a specific function (movement, imaging, biopsy, power), allowing the overall system to achieve multi-functionality while keeping individual module sizes small enough to be swallowed easily.
Solution Approach 2:
The movement module is designed with universal applicability, capable of propelling different types of capsules (imaging capsule, biopsy capsule) through the digestive tract. The shaft mechanism with permanent magnets can transfer motion to various capsule types, making the movement system a universal component across different functional modules.
2Adaptability or versatility
If various functions are included in a single capsule robot, then multi-functionality is achieved, but power consumption increases requiring larger batteries
Solution Approach 1:
The power system is segmented into separate power modules, each with its own battery. This allows each module to be optimized for minimal power consumption of its specific function, rather than one large battery powering all functions simultaneously. The modular power architecture reduces total energy requirements.
Solution Approach 2:
The shaft mechanism acts as an intermediary that transfers mechanical energy from the movement module to other capsules without requiring those capsules to have their own power sources for propulsion. This shared mechanical energy transmission reduces the total power consumption needed across the system.
3Device complexity
If a single capsule robot performs all functions, then device complexity is reduced, but mobility and navigation capability in the digestive tract is limited
Solution Approach 1:
The system uses multiple independent capsules with individual movement capabilities rather than one complex multi-functional capsule. Each capsule can navigate independently through the digestive tract using the shaft mechanism, providing better mobility and flexibility compared to a single large capsule with all functions integrated.
4Adaptability or versatility
If ten or more robot modules are swallowed for assembling reconfigurable endoluminal surgical, then functionality is improved, but patient inconvenience increases and module removal becomes difficult
Solution Approach 1:
The system divides functionality into fewer, more versatile modular capsules that can be swallowed in smaller numbers compared to traditional approaches requiring ten or more specialized modules. Each capsule is designed to be independently controllable and removable, reducing patient burden.
Solution Approach 2:
The capsules are designed with self-propulsion capabilities using the shaft mechanism and permanent magnets, allowing them to move autonomously through the digestive tract without requiring complex external manipulation. This self-service capability simplifies both insertion and removal procedures.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution allows for the deployment of functionally specialized capsule robots that can move bi-directionally, overcoming size limitations and reducing power consumption, enabling faster and more efficient inspection and treatment within the digestive tract.
Implementation Method 1
the outer end of which is provided with a permanent magnet, and the other capsule robot is connected to the other capsule robot as the other permanent magnet comes into contact with the permanent magnet by an attractive force
Implementation Method 2
one capsule robot is fixed with respect to an the internal organ wall by protruding the leg unit to the internal organ wall
Data Source
AI summary
A motion control system includes a first capsule robot, which includes a first housing, a first shaft configured to be movable bi-directionally, the first shaft having a first permanent magnet at an outer end, a first leg unit configured to protrude outwards from the first housing, and a first control unit; and a second capsule robot, which includes a second housing, a second shaft configured to be movable bi-directionally, the second shaft having a second permanent magnet at an outer end, a second leg unit, and a second control unit, wherein the first capsule robot is fixed with respect to an the internal organ wall by protruding the first leg unit to the internal organ, and wherein the second capsule robot is connected to the first capsule robot as the first permanent magnet comes into contact with the second permanent magnet by an attractive force.