A Wireless Control System for an Expanding-Extending Robotic Endoscope

Robotic endoscope is one of the development directions of the noninvasive medical instrument. According to the feature and requirements of an expanding-extending robotic endoscope, a wireless control system was designed which included the following four parts: human-machine interaction PC, external communication box, robotic internal control system, and portable video receiver. Combining with the characteristics of the mechanism of the robot, a double feedbacks control was adopted to control the three coreless DC motors of the robot. A communication chain from upper-computer to robot was designed to control the robot remotely. At last, experimental tests in simulative pipeline and in vitro intestinal tract were carried out, and the results showed that the control system could control the robot effectively.