Design and experimentation of deployable anchoring structure for capsule robot
Aiming at current limitation of capsule robots in lacking anchoring capabilities within the intestinal tract,an anchoring structure for capsule robots based on a deployable linkage mechanism is designed. This structure is designed to adapt to various diameters of intestinal environment and provide sufficient anchoring force.The deployable anchoring structure primarily consists of a circular scissor structure and a driving module,which can be adapted to different capsule robots through the front mounting module. According to the design parameters, an expandability performance model of the anchoring structure is further established,showing a 248％ increase in the expanded area compared to the contracted state. Finally,a prototype is fabricated according to the design and an experimental test platform is constructed. The expandability and anchoring capabilities of the prototype are verified in rubber hoses with different inner diameters and ex vivo porcine colon environments. The experiments indicate that the frictional force when the prototype is deployed is 2.2 times higher than when it is not deployed.The prototype effectively overcomes peristaltic forces within the porcine colon after fixation,validating the feasibility of the clamp structure and providing new insights for future capsule robot clamp designs.
万方数据
维普
