胶囊内窥镜机器人的外磁场驱动方法  

Driving Method of an Endoscopic Robot Capsule by External Magnetic Field

作　　者：简小云 梅涛[1] 汪小华[1] 

机构地区：[1]中国科学院合肥智能机械研究所

出　　处：《机器人》2005年第4期367-372,共6页Robot

基　　金：国家863资助项目(2002AA420100-5)

摘　　要：研究了利用外部磁场驱动胶囊内窥镜机器人的方法.我们将梯度线圈和匀场线圈进行组合,通过调整线圈加载电流以及线圈绕可平移病床的旋转来合成空间上梯度均匀、低场强区域可动态调整的驱动磁场,作用于机器人内置的永磁体,从而获得期望的驱动力和辅助转矩.仿真表明组合线圈构成的磁场环境对于驱动相当有利.我们提出的驱动方法具有良好的可控性和安全性,为进一步研究梯度磁场驱动适于体内各种腔管的微机器人奠定了基础.This paper deals with the actuation of magnetic endoscopic robot capsule by external magnetic field. We combine the gradient coils with the homogeneous coils, and then adjust their current-loads and rotational movement around a translatable patient bed, so as to compose a particular magnetic field of which the spatial gradient is uniform and the low-intensive area can be adjusted dynamically. The magnetic field acts on the permanent magnet embedded in the capsule, and generates the desired drive force and aiding torque. The simulation indicates that the particular magnetic environment caused by the combined coils is beneficial to drive the robot. The proposed driving method has good controllability and safety, and lays a foundation for studying micro-robots driven by external gradient magnetic field in various tracts.

关 键 词：胶囊内窥镜机器人 磁场驱动 消化道检查 管道微机器人 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]