Intelligent regulation scheme of the gastrointestinal delivery capsule's driving force
10.3760/cma.j.issn.1673-4181.2017.01.004
- VernacularTitle:胃肠道施药胶囊驱动力智能调节方案
- Author:
Zhengping LU
;
Xudong GUO
;
Lu LUO
;
Wen CHEN
;
Tiantian PAN
- Keywords:
Drug delivery capsule;
MPU6050;
Driving force;
Intelligent adjustment;
Attitude angle
- From:
International Journal of Biomedical Engineering
2017;40(1):16-19
- CountryChina
- Language:Chinese
-
Abstract:
Objective To intelligently adjust the driving force of a remote-controlled drug delivery capsule based on the postural information in intestines,so as to achieve the control of speed and dosage of drug delivery and reduce the energy consuming.Methods A six-axis sensor MPU6050 was used,and its Z axis was coincident with the central axis of the drug delivery capsule so as to made the medicine discharge port pointing to the Z direction.The angular velocities and accelerations of X,Y,Z axes were monitored,transformed to quaternion with built-in digital motion processor,and then converted to Euler angle form.The intelligence adjustment of driving force could be achieved by accessing the real-time attitude angle of the capsule.Results The results of experiments showed that the error between the actual and the attitude angle measured by the sensor was less 1°.Conclusions The intelligent adjustment scheme of driving force of a gastrointestinal remote-controlled drug delivery capsule was designed.The real-time attitude angles of the capsule could be obtained with high spped and precision.This study can provide the theoretical and experimental basis for the intelligent adjustment of the driving force.
