Research Output
Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot
  This paper presents a miniature hybrid capsule robot for minimally invasive in-vivo interventions such as capsule endoscopy within the GI (gastrointestinal) tract. It proposes new modes of operation for the hybrid robot namely hybrid mode and anchoring mode. The hybrid mode assists the robot to open an occlusion or to widen a narrowing. The anchoring mode enables the robot to stay in a specific place overcoming external disturbances (e.g. peristalsis) for a better and prolonged observation. The modelling of the legged, hybrid and anchoring modes are presented and analysed. Simulation results show robot propulsions in various modes. The hybrid capsule robot consisting four operating modes is more effective for the locomotion and observation within GI tract when compared to the locomotion consisting a single mean of locomotion as the hybrid robot can switch among the operating modes to suit the situation/task.

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  • Date:

    19 March 2020

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  • Publisher

    Springer Science and Business Media LLC

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  • Funders:

    Coventry University


Huda, M. N., Liu, P., Saha, C., & Yu, H. (2020). Modelling and Motion Analysis of a Pill-Sized Hybrid Capsule Robot. Journal of Intelligent and Robotic Systems, 100, 753–764.



Hybrid capsule robot, Capsule endoscopy, In-vivo diagnosis, Legged mode, Legless mode, Anchoring mode, Modelling, Medical robot

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