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Capsule Robot in Gastro-Intestinal Tract: A Case Study for Robot Programming and Navigation

Chapter

Abstract

We present a case study of a pill-sized capsule robot operating in the human’s gastro-intestinal (GI) tract. A design example to conceptually build such a micro-robot is first presented, and a laboratory module is then developed to demonstrate robot navigation techniques. Medical considerations, such as size, speed, safety, and functionality of the robot are discussed, and robot building components are provided including sensors, actuators, processing, communicating, and power supply. The laboratory module is built on the 3D Webots simulation platform. Behavior-based robot navigation methods are introduced to program the robot to navigate in the human’s body.

Keywords

Shape Memory Alloy Robot Navigation Autonomous Mode Wireless Capsule Endoscopy Shape Memory Alloy Actuator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

Partial support for this work was provided by the National Science Foundation’s Course, Curriculum, and Laboratory Improvement (CCLI) program under Award No. 0837584. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.

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Copyright information

© Springer Science+Business Media New York 2013

Authors and Affiliations

  1. 1.Department of Electrical and Computer EngineeringStevens Institute of TechnologyHobokenUSA
  2. 2.Department of Chemistry, Chemical Biology, and Biomedical EngineeringStevens Institute of TechnologyHobokenUSA

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