用于肠道机器人的螺旋式平板发射线圈对设计  

Design of spiral flat transmitting coil pair for intestinal robot

作　　者：庄浩宇 颜国正[1,2] 赵凯[1] 费倩 ZHUANG Hao-yu;YAN Guo-zheng;ZHAO Kai;FEI Qian(School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Institute of Medical Robotics,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240 [2]上海交通大学医疗机器人研究院,上海200240

出　　处：《光学精密工程》2021年第1期84-90,共7页Optics and Precision Engineering

基　　金：国家自然科学基金资助项目(No.61673271,No.81971767);上海市科研项目(No.19441910600,No.19441913800,No.19142203800);上海交通大学医疗机器人研究院资助项目(No.IMR2018KY05)。

摘　　要：传统的肠道机器人无线能量传输系统发射线圈普遍采用中空圆柱体轴向绕线的方式,空间占用体积较大,限制了被检查者的活动空间,绕制复杂。本文提出了一种用于肠道机器人松耦合无线能量传输系统的发射线圈结构,由方形螺旋式绕制的平板线圈对组合而成,极大缩减了线圈的轴向长度,有效减少了发射线圈的体积,线圈结构更为简单轻薄。介绍了无线能量传输系统的工作原理,通过Comsol仿真分析了所设计线圈的磁场分布规律。最后,实验验证了该能量发射装置设计的可行性,并确定了最佳谐振频率。实验结果表明,在工作频率为213 kHz时,线圈对中心处无线能量传输系统的功率为787 mW,传输效率为5.7%,能够满足肠道机器人的功率需求。Traditional wireless power transmission(WPT)systems used in intestinal robots generally adopt a hollow cylinder axial winding mode,which occupies a large amount of space,limits the activity space of the examinee,and complicates the winding.This paper proposes a transmitting coil structure for a loosely coupled WPT system of an intestinal robot.The proposed structure is composed of a square spiral wound flat coil pair,which substantially reduces the axial length of the coil.Thereby,it effectively reduc⁃es the volume of the transmitting coil and makes the coil structure simpler and lighter.First,the working principle of the WPT system is introduced.Then,the magnetic field distribution of the designed coil is an⁃alyzed via COMSOL simulation.Finally,the feasibility of the design of the power transmitting device is verified experimentally,and the optimal resonant frequency is determined.The experimental results show that when the working frequency is 213 kHz,the power of the WPT system at the center of the coil pair is 787 mW,and the transmission efficiency is 5.7%.Thus,the proposed structure can satisfy the power requirements of an intestinal robot.

关 键 词：肠道机器人 发射线圈对 无线能量传输 谐振频率 

分 类 号：R318.6[医药卫生—生物医学工程] TM15[医药卫生—基础医学]