Human-Machine Interaction Control of the Capsule Robot withMultiple Modes Based on Magnetic and Visual Harmonization

In order to achieve the panoramic observation based on the suspended posture adjustment of the capsule endoscopy in an appointed position by magnetic actuation, an underactuated dual hemisphere capsule robot (DHCR) is proposed, which achieves the key breakthrough in the modal conversion between the suspended posture adjustment and the rolling locomotion. To realize the rolling locomotion in the bending gastrointestinal (GI) tract, a human-machine interaction control strategy integrating the vision and the spatial universal rotating magnetic field (SURMF) is put forwarded. Theoretically, the SURMF superposition formula in form of three phase currents using the azimuth and altitude angles of the SURMF axis as independent variables, is derived in the latitude and longitude coordinate systems according to the principle of the orthogonal transformation, achieving the dimension reduction and the decoupling of control variables. Furthermore, the individual adjustment of the SURMF axis along azimuth direction or altitude direction can be implemented respectively. Practically, the camera of the DHCR can scan along azimuth or altitude directions respectively by the magnetic torque servo effect until the DHCR axis is aligned with the bending direction in each section of the GI tract, and steering along each bending direction can be realized by applying the relevant rolling magnetic moment respectively. Finally, the in-vitro pig large intestine is employed as the simulation environment to verify the man-machine interactive performance. The experiments show that the panoramic observation based on the arbitrary posture adjustment under the passive mode, along with the rolling locomotion in the curved environment under the active mode, can be achieved by the proposed DHCR with the human-machine interaction combining the image of the curved GI tract and the SURMF orientation.