June 26, 2011
June 26, 2011
June 29, 2011
22.17.1 - 22.17.10
A Case Study on Pill-Sized Robot in Gastro-Intestinal Tract to Teach Robot Programming and NavigationAbstractMicro/nano-robots for biomedical applications are an emerging area that has receivedadvancement during the last decade. Despite of books/textbooks in nanotechnology, there are agrowing number of articles appeared in journals and conference proceedings in biomedicalmicro/nano-robotics. Medical robotics has been an active research area since the 80s andenormous amount of teaching materials is available, particularly in medical instrumentation andmedical imaging. Contrary to the large amount of teaching and learning materials on large-scalemedical robots, instructional materials on micro/nano-robotics for bio-medical applications arevery limited. There is a general lack of learning materials on micro/nano-robotics inundergraduate education. We develop teaching materials targeting undergraduate students in bio-medical engineering and related disciplines where micro-robotics techniques could be readilyapplied.In this paper, we present a case study on a pill-sized robot in gastro-intestinal (GI tract) to teachundergraduate micro-robotics and also principles of robot programming and navigation. The casestudy consists of a lecture unit and a laboratory module. The lecture unit introduces commercialcapsule endoscopes and proposes a conceptual design of a vitamin pill size robot vehicle that canoperate within human’s GI tract. Figure 1 shows the design of the robot. The laboratory moduleis based on the platform of the Webots simulator. The objective of the laboratory modules is toteach students how to program robots to navigate in an uncertain environment and how to controlthe robot. Two main robot navigation mechanisms will be demonstrated: the semi-autonomousand autonomous modes. In the semi-autonomous mode, human can interfere with or control therobot through communication when needed; while in the autonomous mode, the robot is pre-programmed so that it achieves the task and adapts itself to the environment intelligently. Figure2 shows the basic setup of the system and an interface of the Webots simulator where a micro-robot navigates in the GI tract. Figure 1: Inside of the endoscope capsule robot.Figure 2: An ingested capsule communicates wirelessly with an external control console.
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