体内医疗微型机器人的外磁场驱动与控制系统研究  

Extracorporeal magnetic driving of micro medical robot and control system

作　　者：王辉静[1] 简小云[2] 

机构地区：[1]深圳信息职业技术学院计算机应用系,广东深圳518029 [2]中国科学院合肥智能机械研究所,安徽合肥230031

出　　处：《深圳信息职业技术学院学报》2006年第4期10-13,共4页Journal of Shenzhen Institute of Information Technology

基　　金：国家863资助项目(2002AA420100-5)

摘　　要：本文以胶囊状体内医疗微型机器人为研究对象,着眼于无线胶囊内窥镜的外磁场主动驱动,在分析人体消化道能动性特点的基础上,设计了一种外磁场驱动方案,建立了胶囊状微机器人外磁场驱动的动力学模型,同时给出了驱动控制系统方案设计,为微型机器人在人体消化道内进行无损检查和微创手术提供了一种设计思路。This scientific research work concentrates on the extracorporeal magnetic driving method which is based on the analysis of the intestinal biomechanical performance. The dynamics model of the endoscopic robot driven by external magnetic field is proposed. Meanwhile the whole driving control system is introduced. The proposed method provides a novel way for safe diagnosis and micro surgery. The successful, albeit limited, use of robots to date has heightened demand for their effective incorporation into a wide array of medical procedures. The need to both improve common surgical procedures to a point where surgical revision is needed much less frequently, and to develop entirely new procedures, make further research and development in this field essential. Medical personnel identify the areas in which they believe robotics could best serve them. Studies indicate that there is a distinct need to both improve several existing surgical procedures, which are presently limited by the restricted accessibility and precision of the human hand, as well as to develop entirely new, more efficient procedures, in which robots can play a major role.

关 键 词：外磁场驱动 微型机器人 胶囊内窥镜机器人 动力学模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]