Related Experiment Video
Updated: Jun 26, 2026

Minimally Invasive Murine Laryngoscopy for Close-Up Imaging of Laryngeal Motion During Breathing and Swallowing
Published on: December 1, 2023
Study on a miniature robotic system for active monitoring in the human respiratory tract
1School of Electronics, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai, PR China. zanpeng@sjtu.edu.cn
Abstract:
A three degrees-of-freedom inchworm-type robot is presented for miniature endoscope inspection in the human respiratory system. The robot is actuated with pneumatic artificial muscle and clamped by two air chambers. The robot's extra resistance in the human trachea is analysed in detail and the dynamic model of the robot is built. In order to solve the problems of low stiffness and the nonlinear movement characteristic of the pneumatic robotic system, a fuzzy wavelet neural network controller is proposed to control the robot position servo system using the principle of pulse width modulation. Simulation and experimental results both demonstrate that the training of the fuzzy wavelet neural network controller is faster and the control quality is effectively improved. The monitoring experiments had been done in a swine trachea during mechanical ventilation, and the miniature system can dynamically measure respiratory parameters.
Related Concept Videos
The Respiratory System
Overview of Respiratory System
What is the Respiratory System?
The respiratory system consists of a series of organs responsible for taking in oxygen and expelling carbon dioxide. The primary function of the respiratory system is to...
Anatomy of Respiratory System II: Lower Respiratory Tract
The Larynx
It is located between the pharynx and the trachea, acts as a passageway for air, and hosts several critical structures, such as the epiglottis, vocal cords, and glottis. The epiglottis acts as a gateway, guiding food to the...
Respiratory System Abnormal Finding II: Palpation and Auscultation
Palpation Findings
During a respiratory assessment, palpation can reveal several vital abnormalities:
Respiratory Volumes
Tidal Volume (TV) Tidal volume (TV) is the air inhaled or exhaled in a...
Microbiota of the Respiratory Tract
