A Wireless Multiple Modular Capsule Robot

摘要: Wireless capsule robots, traveling in water or other aqueous mediums, have been urgently demanded biomedical field. Many advancements to self-propelling mechanisms shown that these small scale robots are well-suited for use channels. However, the space constraint of internal environment body cavities and size limitation millimeter great challenges medical application. In this paper, a driven approach based on different start frequencies is proposed multiple modular robot moving pipe. The designed with two modules. Composing permanent magnets (DPMs), modules can be steered by rotational electromagnetic field generated Helmholtz coils. More specifically, forms new construction via docking mechanism. Joint (JPMs) fabricated both sides body. Dynamic model utilized research frequencies. Based geometrical parameters screw structure, able set off at experiments conducted pipe filled verify motions such as combination separation. experimental results indicate would promising way perform complex surgeries accomplish multifunctional operations.