Dynamics of a self-propelled capsule robot in contact with different folds in the small intestine

Abstract

Considering the anatomy of small intestine involving lesions, circular folds and tumours are the major sources resisting the locomotion of capsule robots. By mimicking the small-bowel tumours as cone folds, this paper presents a comparative study on the dynamics of a vibro-impact capsule robot in contact with different circular and cone folds. With the aid of GPU parallel computing and path-following techniques, extensive bifurcation and basin stability analyses are performed to identify different capsule-fold interactions and unravel the parametric influences on the robot, such as fold shape, Young’s modulus and robot’s control parameters (e.g., excitation period and amplitude). It is found that fold shape and Young’s modulus may only affect capsule’s dynamics significantly when robot’s excitation period is large. Two essential locomotion modes, a period-one motion with capsule-fold contact in the small region of excitation amplitude and a fold crossing motion in the large region of excitation amplitude, dominating the dynamics of the robot regardless of fold shape and Young’s modulus are observed. In addition, the instability mechanism of this period-one motion is revealed in detail. The numerical study presented in this work will provide a solid basis for the locomotion control of the robot when encountering different types of circular folds and small-bowel tumours. It also offers the potential of utilising robot’s dynamics for bowel cancer detection.