肠道机器人无线供能的混合式三维发射线圈特性研究  

Characteristics of a Hybrid Three-Dimensional Transmitting Coil for Wireless Power Transmission of Intestinal Robot

作　　者：庄浩宇 颜国正[1] 费倩 汪炜[1] 赵凯[1] ZHUANG Haoyu;YAN Guozheng;FEI Qian;WANG Wei;ZHAO Kai(School of Electronic Information and Electrical Engineering,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,医疗机器人研究院,上海200240

出　　处：《上海交通大学学报》2023年第5期545-551,共7页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金(61673271,81971767);上海市科研项目(19441910600,19441913800,19142203800);上海交通大学医疗机器人研究院资助项目(IMR2018KY05);上海浦江计划(20PJ1419300);转化医学国家重大科技基础设施(上海)开放课题项目(TMSK-2021-302)。

摘　　要：在不同位置和姿态下,为满足肠道机器人通过无线方式稳定获取能量的需要,同时尽可能减小肠道机器人的体积,需要发射线圈具有产生空间多维磁场的能力.提出一种混合式的发射线圈结构,采用亥姆霍兹线圈对与鞍形线圈对组合的方式,其结构紧凑并可利用自身的对称性,能够通过旋转产生无死区的三维空间磁场.对两种线圈形式的特性以及组合后的特性分别进行分析.仿真和实验结果表明,在2 A电流激励下,在线圈中心处具有最低3.44%的传输效率和1 204 mW的接收功率,位置均匀性最低为88.1%,能够实现能量的空间三维覆盖.In order to meet the needs of the intestinal robot to obtain power stably through wireless methods in different positions and postures,and to reduce the volume of the intestinal robot as much as possible,the transmitting coil is required to have the ability to generate spatial multi-dimensional magnetic fields.A hybrid transmitting coil structure is proposed,which combines Helmholtz coil pair and saddle-shaped coil pair.The structure is compact,and its symmetry can be used to generate a three-dimensional magnetic field without dead zone through rotation.The characteristics of the two types of coils and the combined characteristics are analyzed separately.The simulation and experimental results show that at the excitation of 2 A current,the minimum transmission efficiency of 3.44% and the received power of 1204 mW can be obtained at the center of the coil.The minimum positional uniformity is 88.1%,and the three-dimensional power coverage can be achieved.

关 键 词：肠道机器人 三维能量发射线圈 近场无线能量传输 磁耦合谐振 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]