Capsule endoscopy is a new type of technology in the diagnosis and treatment of digestive diseases, with painless and low invasive features. However, current capsule robots have many problems, such as over-sized, single function and lack of active locomotion control. This study proposed and designed a new wireless modular capsule robotic system in pipe. The modular capsule robots could move forward and backward in the pipe in the axial direction, turn in a bending environment, and achieve the rendezvous and separation action through the three-dimensional rotating magnetic field generated by the three-axis Helmholtz coils. In this paper, the drive system of the three-axis Helmholtz coils, the power supply control system, and the modular capsule robot structure were analyzed and designed respectively. Finally, a series of characterization experiments were carried out to evaluate the motion characteristics of the modular capsule robots, including the influence of the flow environment imitated to human body’s gastrointestinal motility, the frequency of the input signal, and the different structure of the robots on the movement characteristics of the modular capsule robot in this study. The study also evaluated the turning characteristics of robots. Experimental results showed that under different circumstances, modular capsule robots had good motion characteristics, and the effectiveness of the modular functionality had also been verified.

胶囊内窥镜检查是一种诊断和治疗消化系统疾病的新型技术，具有无痛且创伤小的特点。但是，当前的胶囊机器人存在许多问题，例如尺寸过大，功能单一以及缺乏主动运动控制。本研究提出并设计了一种新型的管道无线模块化胶囊机器人系统。模块化胶囊机器人可以在管道中沿轴向前后移动，在弯曲的环境中旋转，并通过由三轴亥姆霍兹线圈产生的三维旋转磁场实现集合点和分离作用。本文分别分析和设计了三轴亥姆霍兹线圈的驱动系统，电源控制系统和模块化胶囊机器人结构。最后，进行了一系列表征实验，以评估模块化胶囊机器人的运动特性，包括模拟流动环境对人体胃肠蠕动的影响，输入信号的频率以及机器人的不同结构对运动的影响本研究中的模块化胶囊机器人的特点。该研究还评估了机器人的转向特性。实验结果表明，在不同情况下，模块化胶囊机器人具有良好的运动特性，并且已经验证了模块化功能的有效性。在本研究中，输入信号的频率以及机器人在结构化胶囊机器人运动特性上的不同结构。该研究还评估了机器人的转向特性。实验结果表明，在不同情况下，模块化胶囊机器人具有良好的运动特性，并且已经验证了模块化功能的有效性。在本研究中，输入信号的频率以及机器人在结构化胶囊机器人运动特性上的不同结构。该研究还评估了机器人的转向特性。实验结果表明，在不同情况下，模块化胶囊机器人具有良好的运动特性，并且已经验证了模块化功能的有效性。