国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

The capsule robot is a promising medical instrument for a minimally invasive examination of the intestine. Sensing the intestinal geometric parameters (i.e. radius and thickness) is of great significance for its active locomotion in the unknown intestinal environment. But so far, none of a capsule robot is equipped with this sensing function. For this reason, a method for sensing the intestinal geometric parameters based on the expanding mechanism and thin-film pressure sensors is proposed. By installing thin-film pressure sensors on the tips of the expanding mechanism, the contractile forces of intestines in different expanded radius can be measured. And based on the pressure data and a sensing model taking constitutive equation as the core, the initial radius and thickness of intestines can be sensed. An experimental platform is set up to verify the proposed method in five ex-vivo pig intestines with different geometric parameters, and the results show that: the intestinal geometric parameters can be sensed out within 15s, and the sensing errors of the intestinal radius and thickness are in the ranges of [0.084 mm, 0.239 mm] and [0.186 mm, 0.339 mm], respectively.