Development of orientation sensing technology for micro motor in ingestible medical capsule

Capsule endoscopy increasingly used in medical field for diagnosis of gastrointestinal tract disease, such as gastric ulcers and colon cancers, in order to alleviate the suffering of patients, has yet not achieved complete and clear view of the digestive tract due to constraint from limited mobility...

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Main Author: Zhang, Chao
Other Authors: Chen I-Ming
Format: Final Year Project
Language:English
Published: 2011
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Online Access:http://hdl.handle.net/10356/45248
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-452482023-03-04T18:39:39Z Development of orientation sensing technology for micro motor in ingestible medical capsule Zhang, Chao Chen I-Ming School of Mechanical and Aerospace Engineering A*STAR Robotics Research Centre DRNTU::Engineering::Mechanical engineering::Surgical assistive technology Capsule endoscopy increasingly used in medical field for diagnosis of gastrointestinal tract disease, such as gastric ulcers and colon cancers, in order to alleviate the suffering of patients, has yet not achieved complete and clear view of the digestive tract due to constraint from limited mobility of embedded camera. Therefore, a micro motor is proposed to overcome this limitation. In the previous project, a micro Ultra Sonic Motor with piezo-ceramics as driving component designed to serve as the actuating basement for the camera has a mobility to reach desired views in a hemispherical scope. Because of the configuration of the ultrasonic motor, which uses a wrist-joint like spherical rotor constrained in cavity, instantaneous and final orientation of the rotor is not known especially with friction as the primary driving force. A positioning sensing system, hence, is required to tackle with the unknown orientation in order to realize remote fine control and full automation. Investigations and research on the positioning sensing system for micro-scale ultrasonic motor by using piezo-ceramics suitable for ingestible medical capsule is conducted in this study as the second stage of the project collaborated with Data Storage Institute. Kinematics of the spherical rotor’s rotation with 3-Degree of Freedom is analysed and prototype simulating the rotor’s rotation is developed and manufactured based on the mathematical model. A positioning feedback sensing system by using dual orthogonal laser sensors of Avago LaserStream series measuring rotation with respect to principle axes is proposed together with the sensing algorithm based on instantaneous incremental rotation step. Bachelor of Engineering (Mechanical Engineering) 2011-06-10T04:23:24Z 2011-06-10T04:23:24Z 2011 2011 Final Year Project (FYP) http://hdl.handle.net/10356/45248 en Nanyang Technological University 92 p. + 3 attachments. application/pdf application/octet-stream image/jpeg image/jpeg
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Mechanical engineering::Surgical assistive technology
spellingShingle DRNTU::Engineering::Mechanical engineering::Surgical assistive technology
Zhang, Chao
Development of orientation sensing technology for micro motor in ingestible medical capsule
description Capsule endoscopy increasingly used in medical field for diagnosis of gastrointestinal tract disease, such as gastric ulcers and colon cancers, in order to alleviate the suffering of patients, has yet not achieved complete and clear view of the digestive tract due to constraint from limited mobility of embedded camera. Therefore, a micro motor is proposed to overcome this limitation. In the previous project, a micro Ultra Sonic Motor with piezo-ceramics as driving component designed to serve as the actuating basement for the camera has a mobility to reach desired views in a hemispherical scope. Because of the configuration of the ultrasonic motor, which uses a wrist-joint like spherical rotor constrained in cavity, instantaneous and final orientation of the rotor is not known especially with friction as the primary driving force. A positioning sensing system, hence, is required to tackle with the unknown orientation in order to realize remote fine control and full automation. Investigations and research on the positioning sensing system for micro-scale ultrasonic motor by using piezo-ceramics suitable for ingestible medical capsule is conducted in this study as the second stage of the project collaborated with Data Storage Institute. Kinematics of the spherical rotor’s rotation with 3-Degree of Freedom is analysed and prototype simulating the rotor’s rotation is developed and manufactured based on the mathematical model. A positioning feedback sensing system by using dual orthogonal laser sensors of Avago LaserStream series measuring rotation with respect to principle axes is proposed together with the sensing algorithm based on instantaneous incremental rotation step.
author2 Chen I-Ming
author_facet Chen I-Ming
Zhang, Chao
format Final Year Project
author Zhang, Chao
author_sort Zhang, Chao
title Development of orientation sensing technology for micro motor in ingestible medical capsule
title_short Development of orientation sensing technology for micro motor in ingestible medical capsule
title_full Development of orientation sensing technology for micro motor in ingestible medical capsule
title_fullStr Development of orientation sensing technology for micro motor in ingestible medical capsule
title_full_unstemmed Development of orientation sensing technology for micro motor in ingestible medical capsule
title_sort development of orientation sensing technology for micro motor in ingestible medical capsule
publishDate 2011
url http://hdl.handle.net/10356/45248
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