A Structural Design of the Assembling Multi-functional Capsule Robot Driving Module

Medical capsule robot, as a painless, non-invasive human gastrointestinal diagnosis scheme, has attracted more and more attention in modern medical treatment. At present, in the medical system, the capsule robot enters the human body orally and starts to carry out specific single functional movement through the esophagus to the intestines and stomach, until it is discharged from the body, with low working efficiency. Therefore, this paper presents a new concept of assembling multifunctional capsule robot, and designs the structure of its driving module. The robot consists of a detachable function module and a driving module. Function modules according to the clinical needs to install different modules, such as visual module, drug delivery module. The driving module is a helical structure, which is powered by a rotating electromagnetic field generated by a triaxial Helmholtz coil. The robot can realize multi-module cooperative work after assembly. The simulation result shows that the robot driving module can move stably in the pipe by rotating magnetic field.