| 1. | This paper presents our research in actuating in - vivo micro - robot based on the capsule endoscope platform by the external power . while seeking secure driving method we take several factors into account , such as driving environment , power transmitting and consuming , motion requirement and controllability , and locating technique . we mainly deal with driving the capsule with spatial gradient magnetic field , so we employ combined electro - magnetic coils , including gradient coils and homogenous coils , which have rotational dof around a translatable patient bed , to compose a controllable uniform gradient which act on the permanent - magnet embedded robot , thereby get an appropriate spatial force and torque to fulfill the anticipant locomotion such as move , stop , pitch and yaw
基于驱动环境、能量供给和消耗、驱动动作要求及驱动安全性与可控性,定位方案等多方面考虑,寻求安全可靠的肠胃检查微机器人的外部驱动控制方法,并着重研究直接利用外磁场磁力驱动微机器人:在微机器人内部嵌入永磁性体,利用体外的组合电磁线圈产生加载电流控制的驱动磁场,其中外部的电磁线圈由多组梯度线圈和匀场线圈组合构成,通过绕病床的旋转以及病床的平移共同控制微机器人所在位置的磁场强度及梯度,作用于微机器人内嵌磁体以获得空间意义上的必要驱动力和调整转矩,从而有效地完成驱动动作要求。 |
