1. Characterizing Angular Position in Parallel to
Linear Actuation
Dennis Sohn and Elizabeth Lee

2. Objective
To characterize motor step position with angular position of the medical capsule
robot
Utilize LabVIEW to acquire data from an accelerometer, which will be attached to
the base bellow attachment piece of probe
Utilize LabVIEW to linearly control gear shaft, which will vary actuation levels of
the probe
2

3. Equipment
Laptop with LabVIEW installed
National Instruments USB 6221 DAQ Board
ADXL330 3-axis MEMS Accelerometer
Protek 32023L Power Supply
Actuation Motor
Medical Probe
Big Easy Driver: stepper motor driver board
Casing
Fig. 1 Big Easy Driver
3

4. Experimental Setup
Main LabVIEW program with two subVIs
First subVI acquire data from accelerometer
Second subVI controls actuation motor
Gear shaft is attached to syringe to transfer rotational motion from motor to linear
translational motion to control air pressure via syringe
Accelerometer is attached at base bellow connection piece and acquire data at
various actuation processes
4

5. Design
Fig. 2 (a)Medical capsule (above) and (b)setup (right)
5

6. Design Diagram
Fig. 3 Design setup of medical capsule
6
Video of design setup

7. VR View of Medical Capsule Setup
https://photosynth.net/preview/view/9953a19e-5735-4058-9885-b438dbc70043?startat=0
7

8. LabVIEW Block Diagram of Main VI
Fig. 4 Block diagram of main VI 8

9. LabVIEW Front Panel of Main VI
Fig. 5 Front Panel of Main VI
9

10. LabVIEW Block Diagram of Motor Stepper
Fig. 6 Block Diagram of Motor Stepper
10

11. LabVIEW Front Panel of Motor Stepper
Fig. 7 Front Panel of Motor Stepper
11

12. LabVIEW Block Diagram of Accelerometer
Fig. 8 Block Diagram of Accelerometer 12

13. LabVIEW Front Panel of Accelerometer
Fig. 9 Front Panel of Accelerometer
13

14. Equations for Finding Angles
Tilt Angle (Eq. 1):
Panoramic Angle (Eq. 2):
14

15. Graph: Tilt Angle by Motor 1
Fig. 10 Tilt angle of Motor 1, https://youtu.be/grpivihrwbU
15

16. Graph: Tilt Angle by Motor 2
Fig. 11 Tilt angle of Motor 2
16

17. Graph: Tilt Angle by Motor 3
Fig. 12 Tilt angle of Motor 3
17

18. Graph: 360 Degrees Rotation of Capsule
Fig. 13 Full rotation of capsule
18

19. Videos of 360 deg. rotation
19
Bottom-view and side-view of medical capsule

20. Conclusions
Stated Objective: to characterize motor step position with angular position of the
medical capsule robot
Successfully obtained tilt and panoramic angles and control medical capsule in all positions
Challenges Faced:
Calibration of syringes
Inconsistent power supply led to constant calibration of accelerometer
Future Development:
To avoid algorithms, input joystick/hand-held controller
Platform to add universal instruments (ie, camera, biopsy mechanisms)
20

21. Summary and Real Life Application:
Potential universal medical applications
Low cost alternative
Reach and screen patients in low socioeconomic
population
Detect early signs of illnesses
SAVE LIVES AND DO GOOD!!!
Closing Thoughts
21

22. Who Wants To Try It Out?
22