基于外磁场驱动的微型管道机器人研究
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摘要
胃肠道是人体的重要器官,由于所处环境的复杂性,与其他器官相比更容易发生病变。对于胃肠道的检查,通常的方法是插管式内窥镜和无缆式胶囊内窥镜。前者的主要缺点是靠外力进入胃肠道,容易造成组织器官的损伤,给病人带来不适和痛苦。后者是靠胃肠道的自然蠕动来遍历全身进行检查,并期望最终排出体外。此种方法的缺点是观察过程不受控制,检查所需时间较长,可能存在检查盲区,胶囊滞留等问题。
为了实现胶囊内窥镜的主动驱动,本文研究了一种直接利用外部均匀梯度磁场驱动的方法,微型管道机器人本体采用内嵌钕铁硼永磁体制作而成的胶囊形状机器人,利用亥姆霍兹线圈与麦克斯韦线圈空间组合,形成驱动微型管道机器人所需的组合线圈,通过调节组合线圈加载电流的大小,线圈空间位置的变换,以及管道的位置平移,共同形成微型管道机器人驱动所需的梯度磁力和磁转矩,从而有效地完成驱动动作。采用这种磁场驱动方式,具有结构简单、驱动力和速度可控、稳定性和安全性高、可对重点部位进行检查等优点。
本文主要对均匀梯度磁场形成的原理、微型管道机器人的驱动机理进行了分析,对驱动线圈进行了磁场仿真分析,对微型管道机器人的本体进行了设计,并搭建了实验所需的微型管道机器人控制系统,最后通过实验验证了微型管道机器人的运动性能。实验结果表明,微型管道机器人具有较好的运动性能,实现了平移运动,空间姿态调整等动作,具有较好的可控性。
Gastrointestinal tract is the body's vital organs. Because of the complexity of its environment, compared with other organs, the gastrointestinal tract is more susceptible to disease. For the gastrointestinal tract examination, the usual method is intubating endoscope and non-cable-style capsule endoscopy. The main disadvantage of the former relies on external force to enter into the gastrointestinal tract. This method easily damages tissue and organ and causes patients uncomfortably and painfully. The latter is the natural peristalsis through the gastrointestinal tract, which conducts inspection through body and eventually excretes. Disadvantage of this method is out of control to observe process. It requires longer checking time. The blind spots and capsule retention may exist.
In order to achieve the active capsule endoscopy-driven, in this paper, an approach of direct external uniform gradient-driven by magnetic field is researched. Micro-pipe robot body is capsule robot that is embedded with Nd-Fe-B permanent magnet. Helmholtz coils and the Maxwell coils are orthogonal combination in space. A combination of coil drives micro-pipe robot. By adjusting current of coil and the transformation of coil spatial location and the location of pipelines translation, those jointly form gradient force and magnetic torque to effectively complete the driver action required. Author use this magnetic field-driven approach, which has simple structure. The driving force and speed is controlled. It has high security and can examine key positions and so on.
In this paper, principle of the formation of uniform and gradient magnetic field is analyzed. Driving mechanism of micro-pipe robot is analyzed. Magnetic field of the drive coil is simulated. The micro-pipe robot body was designed. Author built the experimental equipment needed for micro-pipe controlled system. Finally, experiment test and verify performance of the micro-pipe robot motion. Experimental results show that micro-pipe robot has good motion performance to achieve the translational motion and space posture adjustment. It has good controllability.
为了实现胶囊内窥镜的主动驱动,本文研究了一种直接利用外部均匀梯度磁场驱动的方法,微型管道机器人本体采用内嵌钕铁硼永磁体制作而成的胶囊形状机器人,利用亥姆霍兹线圈与麦克斯韦线圈空间组合,形成驱动微型管道机器人所需的组合线圈,通过调节组合线圈加载电流的大小,线圈空间位置的变换,以及管道的位置平移,共同形成微型管道机器人驱动所需的梯度磁力和磁转矩,从而有效地完成驱动动作。采用这种磁场驱动方式,具有结构简单、驱动力和速度可控、稳定性和安全性高、可对重点部位进行检查等优点。
本文主要对均匀梯度磁场形成的原理、微型管道机器人的驱动机理进行了分析,对驱动线圈进行了磁场仿真分析,对微型管道机器人的本体进行了设计,并搭建了实验所需的微型管道机器人控制系统,最后通过实验验证了微型管道机器人的运动性能。实验结果表明,微型管道机器人具有较好的运动性能,实现了平移运动,空间姿态调整等动作,具有较好的可控性。
Gastrointestinal tract is the body's vital organs. Because of the complexity of its environment, compared with other organs, the gastrointestinal tract is more susceptible to disease. For the gastrointestinal tract examination, the usual method is intubating endoscope and non-cable-style capsule endoscopy. The main disadvantage of the former relies on external force to enter into the gastrointestinal tract. This method easily damages tissue and organ and causes patients uncomfortably and painfully. The latter is the natural peristalsis through the gastrointestinal tract, which conducts inspection through body and eventually excretes. Disadvantage of this method is out of control to observe process. It requires longer checking time. The blind spots and capsule retention may exist.
In order to achieve the active capsule endoscopy-driven, in this paper, an approach of direct external uniform gradient-driven by magnetic field is researched. Micro-pipe robot body is capsule robot that is embedded with Nd-Fe-B permanent magnet. Helmholtz coils and the Maxwell coils are orthogonal combination in space. A combination of coil drives micro-pipe robot. By adjusting current of coil and the transformation of coil spatial location and the location of pipelines translation, those jointly form gradient force and magnetic torque to effectively complete the driver action required. Author use this magnetic field-driven approach, which has simple structure. The driving force and speed is controlled. It has high security and can examine key positions and so on.
In this paper, principle of the formation of uniform and gradient magnetic field is analyzed. Driving mechanism of micro-pipe robot is analyzed. Magnetic field of the drive coil is simulated. The micro-pipe robot body was designed. Author built the experimental equipment needed for micro-pipe controlled system. Finally, experiment test and verify performance of the micro-pipe robot motion. Experimental results show that micro-pipe robot has good motion performance to achieve the translational motion and space posture adjustment. It has good controllability.
引文
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[2]孙立宁,周兆英,龚振邦.MEMS国内外发展状况及我国MEMS发展战略的思考.机器人技术与应用.2002(1):2-4页
[3]孙立宁,刘品宽,吴善强等.管内移动微型机器人研究与发展现状.光学精密工程.2003,11(4):326-332页
[4]迟冬祥,颜国正,林良明.用于肠道检查的微小机器人内窥镜系统.中国医疗器械杂志.2002,26(3):23-26页
[5]徐阳.机器人技术在医疗领域中的应用.今日科技.1999(8):4-5页
[6]刘文光,陈和恩,陈扬枝.医用管道微机器人的研究进展.现代制造工程.2004(5):14-16页
[7] http://www.givenimaging.com/.以色列基文影像有限公司
[8] http://www.rfsystemlab.com/.日本无线电系统实验室
[9] http://www.microsystem.re.kr/.韩国智能微系统中心
[10] SendohM,YamazakiA,ChibaAetal.Spiraltypemagneticmicroactuatorsformedicalapplications.Micro-NanomechatronicsandHumanScience,ProceedingsoftheInternationalSymposium,2004:319-324P
[11] Hideo Saotome. Swimming properties of a bending-type magnetic micromachine. Journal of Magnetic, Society of Japan, 2001, 25(4-2):1175-1178P
[12] Shuxiang Guo, Y.Hasegaw, T.Fukuda. Fish-like Underwater Microrobot with Multi DOF. Proceedings of the 2001 International Symposium on Micro mechatronics and Human Science. IEEE, 2001:63-68P
[13] http://www.olympuschina.com/奥林巴斯医疗系统公司
[14] K Zimmermann, V A Naletova, I Zeidis etal. A deformable magnetizable worm in a magnetic field-A prototype of mobile crawling robot. Journal of Magnetism and Magnetic Materials. 2007: (311)450-45P
[15]卢秋红.微型仿生蠕动机器人驱动器及动力学建模研究.上海交通大学博士学位论文.2004:10-24页
[16]周银生,贺惠农,顾大强等.医用微型机器人无损伤体内驱动方法.科学通报.1999,44(20):2210-2213页
[17]周银生,贺惠农,全永昕.无损伤肠道机器人运行速度的研究.摩擦学学报.1999,19(4):299-303页
[18]张永顺,丁凡,贾振元.外磁场驱动无缆微型机器人行走特性的分析.机械工程学报:2003,39(6):135-139.页
[19]王广振,季林红,温诗铸.电磁驱动热膨胀型微型机械驱动器.机械工程学报.2003,39(2):79-83页
[20] http://www.cqjs.net/重庆金山科技集团
[21] http://www.omom.us/ OMOM胶囊内窥镜
[22] IshiyamaK, AraiK, Sendoh M.etal. A fabrication of magnetic micro-machine for local hyperthermia. Sensors and Actuators, 2001:141-144P
[23] Sendoh M, Ishiyama K. Fabrication of magnetic actuator for use in a capsule endoscope. IEEE Transactions on Magnetics, 2003, 39(5): 3232-3234P
[24] FukudaT, Hosokai H. Giantmagn to strictive alloy (GMA) application to micromobile robot as a microactuator with out power supply cable. IEEE Micro Electro Mechanical System, 1991:210-215P
[25] Honda.T. Swimming properties of a bending-type magnetic micromachine. Journal of Magnetic, Society of Japan, 2001, 25(4-2):1175-1178P
[26] Ishiyama K, Arai K, Sendoh M etal. Spiral-type micro-machine for medical applications. Micro mechatronics and Human Science 2000. Proceedings of 2000 International Symposium on, 2000, (22-25 Oct):65-69P
[27]牛中奇,朱满座,卢智远,路宏敏等编著.电磁场理论基础.第一版.北京:电子工业出版社,2001:79-86页
[28]简小云,梅涛,汪小华.胶囊内窥镜机器人的外磁场驱动方法.机器人.2005(4):367-372页
[29]王辉静,简小云.体内医疗微型机器人的外磁场驱动与控制系统研究.深圳信息职业技术学院学报.2006,11(4):10-13页
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