Visual Navigation Method of Dual Hemisphere Capsule Robot inside Curved Intestine Tract

doi:10.3901/JME.2020.07.027

Abstract

Abstract: To realize the steering locomotion of the dual hemisphere capsule robot with active and passive modes in curved intestinal tract, a visual navigation method is proposed. First, based on the coaxial follow-up characteristics of the capsule axis and the spatial universal rotating magnetic vector during dynamic posture adjustment process, the posture of the embedded monocular camera can be calculated by its two wireless transmission images taken at the same altitude angle but two different azimuth angles. Then, the centroid pixel coordinates of the dark region of the image can be extracted in the camera coordinate when the camera is aligned with the curved intestine, and under the condition of uniform spatial universal rotating magnetic field and by combination with the posture of the camera, the direction of visual navigation of the capsule is derived by calculating the orientation of the centroid of the dark region of the image in the fixed coordinate system, thus the visual navigation of the capsule in the curved intestine tract can be achieved by further calculating the direction of the the spatial universal rotating magnetic vector for rolling locomotion. The test proves that the method can be used for capsule navigation without any additional sensor device, with more effective load volume, the navigation method lays a foundation for all-over inspection and medical operation inside the gastrointest-inal tract of human body.

Key words: dual hemisphere capsule robot, spatial universal rotating magnetic field, determination of posture information, centroid of dark region, direction of visual navigation

CLC Number:

TP242

ZHANG Yongshun, TIAN Feng, WANG Zhibo, YANG Huiyuan, LIU Xu. Visual Navigation Method of Dual Hemisphere Capsule Robot inside Curved Intestine Tract[J]. Journal of Mechanical Engineering, 2020, 56(7): 27-34.

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