机械臂操纵胶囊内窥镜磁导航系统  

Capsule endoscope’s magnetic navigation systemcontrolled by mechanical arm

作　　者：翟雨佳 滕智帆 刘建华[3,4] 孙洪博 池文强 ZHAI Yujia;TENG Zhifan;LIU Jianhua;SUN Hongbo;CHI Wenqiang(College of Electrical and Information Engineering,Hunan University,Changsha 410082;Department of Automation,University of Science and Technology of China,Hefei 230026;Institute of Electrical Engineering,Chinese Academy of Sciences,Beijing 100190;University of Chinese Academy of Sciences,Beijing 100049;Hamlyn Centre,Imperial College,London SW72AZ)

机构地区：[1]湖南大学电气与信息工程学院,湖南长沙410082 [2]中国科学技术大学自动化系,安徽合肥230026 [3]中国科学院电工研究所,北京100190 [4]中国科学院大学,北京100049 [5]帝国理工学院汉姆林中心,英国伦敦SW72AZ

出　　处：《机械设计》2024年第7期15-20,共6页Journal of Machine Design

基　　金：国家自然科学青年项目(51907060);国家自然科学基金面上项目(52177019);中国科学技术协会青年人才托举计划(2021QNRC001);中国科学院重点部署项目(ZDRW-CN-20210-3);湖南省自然科学基金优秀青年项目(2021JJ20013);湖南省创新平台与人才计划湖湘青年英才项目(2021RC3058)。

摘　　要：胶囊内窥镜因其舒适性高、无交叉感染等优点,广泛用于消化道疾病检查,但因为无磁控或弱磁控,无法在小肠实现自由高效可控检查。为克服这一缺点,文中基于机械臂操纵的胶囊内窥镜磁导航系统被提出。该系统由机械臂、外部磁源、主从控制系统及磁性胶囊内窥镜组成,通过改变机械臂的姿态和位置实时调节磁性胶囊内窥镜的位姿,提高控制的准确性。通过搭建磁驱动试验平台测试胶囊内窥镜肠道中的操控性能试验,验证了方案可行性,表明机械臂操纵胶囊内窥镜磁导航系统能够满足肠道高效镜检要求,为下一步推向临床奠定了基础。Capsule endoscopes are widely used for gastrointestinal inspection due to their user-friendliness and no cross-infection.However,because of no or weak magnetic control,it is impossible to achieve free and efficient examination in small intestines.In this article,in order to overcome this shortcoming,a magnetic navigation system is specifically designed for the capsule endoscope,which is controlled by the manipulator arm.This system is composed of a mechanical arm,an external magnetic source,a master-slave control system and a magnetic capsule endoscope.The magnetic capsule endoscope’s position and posture can be adjusted in real-time by changing the mechanical arm’s posture and position,so as to improve the accuracy in control.A magnetic-driven experimental platform is set up to test the the capsule endoscope’s control performance in the intestine;the experimental results verify that this scheme is feasible.It is shown that the capsule endoscope’s magnetic navigation system controlled by the mechanical arm meets the requirements of efficient intestinal endoscopy,which lays a solid foundation for the next step to clinical research and application.

关 键 词：磁导航 主动控制 胶囊内窥镜 机械臂 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]