CN100450729C - System for controlling micro robot movement and pose by outer magnetic field and its control method and use - Google Patents
System for controlling micro robot movement and pose by outer magnetic field and its control method and use Download PDFInfo
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- CN100450729C CN100450729C CNB2006101227963A CN200610122796A CN100450729C CN 100450729 C CN100450729 C CN 100450729C CN B2006101227963 A CNB2006101227963 A CN B2006101227963A CN 200610122796 A CN200610122796 A CN 200610122796A CN 100450729 C CN100450729 C CN 100450729C
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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Abstract
The outer magnetic field controlled micro robot motion and pose system includes one magnetic field generator and one micro robot. The magnetic field generator is one circumferential permanent magnet array including several permanent magnets rotating synchronously around itself center. The micro robot in spiral surface capsule shape has two permanent magnets with opposite magnetisms attached to its cylindrical section and thus produces one magnetic moment. The control method the said system realizes includes the following steps: arranging several permanent magnets regularly and circumferentially, preparing the micro robot, setting the micro robot inside the permanent magnet array to make the inner magnetic moment superposed with the circumferential array, rotating the permanent magnets synchronously to drive the micro robot to move inside biological duct and controlling the swing and motion direction with the array plane.
Description
Technical field
The present invention relates to the magnetic field control technology of Micro-Robot, particularly a kind of external magnetic field control Micro-Robot motion and pose system and control method and application.
Background technology
The wireless driving method driving of Micro-Robot mainly can be divided into induction coupling process, electromagnetic wave and methods of magnetic field in the body at present.Wherein, the induction coupling process is according to Maxwell (Maxwell) electromagnetic field principle, and primary coil by loosely coupled transformer and the electromagnetic induction between the secondary coil transmit energy; The electromagnetic wave method be electromagnetic wave in the emission of external electromagnetic wave emission source by body in the receiving coil of Micro-Robot setting transform into electric energy and drive the Micro-Robot motion.Above-mentioned both are applicable to remote energy transmission, and the former can transmit more powerful energy, and it is less that the latter is transmitted energy; But there is inefficient shortcoming in the both, and energy conversion device more complicated all.Magnetic approach is to produce Micro-Robot motion in the field drives body that needs by external field generator for magnetic; Outside constant magnetic field is applied to the driving of capsule in the body gradually for almost not injury of human body, utilizes built-up coil to obtain the magnetic field gradient of uniform magnetic field intensity or even variation in the portion zone within it.People such as M.Sendoh, Ishiyama uses three Helmholtz coil energisings of quadrature in the magnetic field of the synthetic rotation of its coil inside, has developed the electromagnetic driver that is used for capsule endoscope; Letter cloud dawn then proposes to use Helmholtz coil and the right built-up coil of Maxwell to form the magnetic field with intensity gradient and directly drives capsule endoscope.From drive principle, requirement of the method for this combined electrical magnetic coil is that Micro-Robot or microcapsules necessarily are in coil inside.Consider that Micro-Robot or microcapsules MEMS are applied to the human body diagnosis and treatment, if the whole belly that the magnetic field of coil stationary and its generation can human body, then cause the bulky of coil, and the electric current that the volume increase can cause producing certain magnetic field intensity needs increases fast, the heating of d-c solenoid simultaneously will consume most energy, and field generator for magnetic is all very complicated.
Summary of the invention
The objective of the invention is to overcome the shortcoming and the deficiency of prior art, provide a kind of simple and reasonable for structure, easy operating, the external magnetic field control Micro-Robot motion that efficient is high and the system of pose.
Another object of the present invention is to provide a kind of by said system realize simple, practical, less energy consumption, the external magnetic field control Micro-Robot motion that control accuracy is high and the method for pose.
A further object of the present invention is to provide the application of above-mentioned external magnetic field control Micro-Robot motion and pose system.
Purpose of the present invention is achieved through the following technical solutions: a kind of external magnetic field control Micro-Robot motion and pose system, comprise field generator for magnetic, Micro-Robot, field generator for magnetic and Micro-Robot act on wireless connections by magnetic field, it is characterized in that: described field generator for magnetic is the permanent magnet circumference array, described permanent magnet circumference array comprises a plurality of permanent magnets, each permanent magnet be in different separately initial positions and angle and around self center in array plane with identical speed rotation, thereby in rotating excitation field of array center point generation; This rotating excitation field intensity constant magnitude, rotary speed equals the rotational velocity of permanent magnet; Described Micro-Robot comprises the capsule shape matrix, adheres to two permanent magnetism sheets that magnetic is relative on the cylindrical section of capsule shape matrix, and described two permanent magnetism sheets make Micro-Robot produce a magnetic moment.
The surface of the capsule shape matrix cylindrical section of described Micro-Robot is a helical surface.
The permanent magnetism sheet of the capsule shape matrix cylindrical section of described Micro-Robot is sheet, strip, watt shape or other shapes.
Described permanent magnet can be shapes such as cylinder, cuboid or multi-faceted column.
Along circumference array, and each permanent magnet requires to forward to corresponding separately initial angle according to arranging to described permanent magnet circumference array by the volume center point of a plurality of permanent magnets.
The quantity of described permanent magnet can be more than 2 or 2, and the rotating excitation field that becomes of multiform is even more more for quantity, determines the quantity of permanent magnet in actual use as required.
A kind of external magnetic field that is realized by said system is controlled the method for Micro-Robot motion and pose, comprises the steps:
1, n permanent magnet arranged along circumference aspect arrayed, formed the permanent magnet circumference array, concrete steps are---
(1) set up fixing global coordinate system YOZ, and the local coordinate system Y that rotates with permanent magnet
iO
iZ
i(i=1,2 ..., n), local coordinate system forward Z
iBe the permanent magnet magnetization direction, initial point O
lBe permanent magnet volume center point.
(2) with local coordinate system Y
1O
lZ
lInitial point O
lBe fixed on point (r under the global coordinate system
p, 0), and to be basic point with it evenly arrange all cylinder permanent magnets along circumference forward (counterclockwise) around the O point.The central point of permanent magnet is r at radius all
pCircumference on, the central angle of adjacent permanent magnet central point correspondence is 360 °/n.
(3) rotate each permanent magnet to correspondence position; Rotate local coordinate system Y successively
iO
iZ
iMake its corner with respect to global coordinate system YOZ be followed successively by 720 ° of * (i-1)/n (i=1,2 ..., n); In the array center zone, obtain intensity magnetic field very uniformly like this, its velocity of rotation equals the velocity of rotation of array permanent magnet.
2, preparation Micro-Robot: adopt the capsule shape matrix, on the cylindrical section of capsule shape matrix, enclose the relative sheet of two magnetic or the permanent magnetism sheet of strip, make Micro-Robot have a magnetic moment; The concrete technology method such as can take that interference is inlayed or sticked together of enclosing; In addition, the cylindrical section surface treatment of capsule shape matrix is become helical surface, be convenient to itself and contactant (as: in people's in-vivo tissue---enteron aisle, blood vessel etc. or the human body viscosity body fluid etc.) generation axially-movable when rotation contact on every side.
3, Micro-Robot is placed permanent magnet circumference array, the motion of ACTIVE CONTROL Micro-Robot and pose.
The pose of Micro-Robot refers in certain coordinate system (in global coordinate system), certain point on the micro-machine human body (being often referred to the particular point such as volume center point, shape central point of Micro-Robot) is in the locus (3 independent parameters), and the micro-machine human body is determined by 5 independent parameters jointly with respect to the angle (2 independent parameters) of coordinate system.
After permanent magnet array adjusted, Micro-Robot is placed the permanent magnet circumference array, magnetic moment and permanent magnet circumference array planes overlapping in the Micro-Robot, and the interior magnetic moment central point of Micro-Robot overlaps with array center's point.Need the swing Micro-Robot, when promptly adjusting it with respect to the angle of coordinate system, by adjusting three points of array surface simultaneously, make array plane around array center's spot wobble, be in the Micro-Robot of array center's point along with array plane is swung together this moment.So just can adjust the direction that Micro-Robot advances, also realize the swing of Micro-Robot at initial point.When Micro-Robot in pipeline, in the time of particularly in biological duct, needing to drive Micro-Robot rotates when advancing, drive each array permanent magnet simultaneously respectively with the synchronous rotation of identical speed, the rotating torque that the rotating excitation field that the permanent magnet circumference array produces forms a constant magnitude acts on Micro-Robot (permanent magnet circumference array center is over against Micro-Robot magnetic moment center), it is rotated, simultaneously by helical surface and contactant (as: people's in-vivo tissue---enteron aisle on every side around self axis, the interior viscosity body fluid of blood vessel or human body etc.) contact action realizes the motion of Micro-Robot.Can change the gait of march of Micro-Robot by the rotary speed that changes external permanent magnets.So just realized two kinds of forms of motion of Micro-Robot respectively, in actual use, also can realize Micro-Robot along curvilinear motion with two kinds of control methods in conjunction with simultaneously Micro-Robot being carried out, swing waits forms of motion at the volley.In motion process, Micro-Robot rotates with rotating excitation field, and when external permanent magnets stopped operating, the angle that rotating excitation field stops was the rotation phase angle that Micro-Robot stops.
External magnetic field control Micro-Robot motion provided by the invention and pose system can be applicable to wireless energy transfer, and no cable Micro-Robot is advanced in microtubule, is particularly suitable for advancing in biological duct and the athletic posture adjustment.
External magnetic field control Micro-Robot motion provided by the invention and pose system can be applicable to the carrier of many mini-medical apparatuses, realize the purpose of minimally invasive medical.Some concrete application may comprise, but be not restricted to this: 1, as the carrier of wireless capsule endoscope.Be applied to clinical capsule endoscope at present and can observe the whole alimentary canal of human body, simultaneously the patient is produced any misery hardly.But because it does not have drive system, rely on peristalsis of the digest tract to advance it to advance fully, can only realize image sampling one time alimentary canal.After adopting drive system of the present invention, can realize that it to the gastral multi-angle observation that repeatedly repeats, can improve the diagnosis accuracy for the alimentary canal focus greatly.2, as wireless diagnosis and treatment administration mechanism and sampling mechanism (cutting down the fritter lesions position be organized into external chemical examination, and extract lesions position organize body fluid etc.) carrier.Carrying the arrival of wireless diagnosis and treatment administration mechanism and sampling mechanism needs lesions position, adjusts to suitable administration and sampling angle, finishes the administration and the sampling of biological ducts such as alimentary canal.3, carry out miniature operation.Some micro-surgical instruments are installed in this robot, the treatment that can directly undergo surgery in vivo, the cleaning biological duct is removed the material for the human body harmful.
The relative prior art of the present invention has following advantage and effect:
1, simple and reasonable for structure, less energy consumption: structure of the present invention comprises permanent magnet circumference array and Micro-Robot, described permanent magnet circumference array is only arranged by permanent magnet and is constituted, described Micro-Robot mainly is made of capsule shape matrix and attached two relative permanent magnetism sheets of magnetic thereon, so structure of the present invention is very simple, other shortcomings that the equipment volume that adopts coil generation magnetic field to cause is too huge and cause have been eliminated fully, except that control needs energy, need energy to supply with hardly, capacity usage ratio height, but and energy savings.
2, easy to operate, control easily: (1) the present invention is very easy to adjust the size of outside rotating excitation field, thereby is very easy to adjust the active torque that Micro-Robot is subjected to; After permanent magnet character is determined, be very easy to obtain the rotating excitation field intensity of needs by the increase and decrease of array permanent magnet quantity and the variation of array circumferential size, thereby obtain the active torque that Micro-Robot is subjected to.Theoretical and experiment showed, that in array quantity the linearity of magnetic field intensity and array quantity is very high during greater than some.(2) the present invention is very easy to control Micro-Robot movement velocity in vivo; Under the situation that other parameters are all determined, the rotational velocity that only needs to adjust array permanent magnet can be controlled Micro-Robot gait of march in vivo.Turning to when (3) the very easy control of the present invention Micro-Robot moves in vivo; Because the real time kinematics direction of Micro-Robot is perpendicular to array plane,, need the rotation array plane both can adjust the direction of motion of Micro-Robot so keeping under array center point and the condition that the inner magnetic moment of Micro-Robot center overlaps.(4) the present invention is very easy to the direct of travel of control Micro-Robot; If permanent magnet rotates along certain direction, Micro-Robot travels forward, then permanent magnet reverse rotation, and Micro-Robot moves backward.(5) the present invention is very easy to adjust the rotational orientation angle of Micro-Robot; Micro-Robot rotates synchronously with rotating excitation field in pipeline, and the rotating excitation field rotational angle is by the rotational angle control of external permanent magnet, so can be very easy to control the angle of rotation of Micro-Robot by external permanent magnet, promptly Micro-Robot can rotate around its axis and rest on arbitrarily angled.
3, range of application is wider; The present invention can be applicable to the carrier of many mini-medical apparatuses, realizes the purpose of minimally invasive medical, also can be applicable to technical fields such as wireless energy transfer.
Description of drawings
Fig. 1 is that the rotating excitation field that the present invention is an example with 6 permanent magnet circumference array produces schematic diagram.
Fig. 2 is the structural representation of the Micro-Robot of system of the present invention.
Among the figure 1, the Micro-Robot executive item; 2, sheet, strip or watt shape permanent magnet; 3, Micro-Robot helical surface
Fig. 3 is the outside drawing of Micro-Robot shown in Figure 2.
Fig. 4 is the array permanent magnet direction of magnetization shown in Figure 1, array plane and permanent magnet rotation center triadic relation's schematic diagram.
Fig. 5 is that Micro-Robot shown in Figure 2 is swung in array plane and the steering principle schematic diagram.
The specific embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
Fig. 1～Fig. 3 shows a kind of concrete structure of the present invention.External magnetic field control Micro-Robot motion of the present invention and pose system comprise field generator for magnetic, Micro-Robot, described field generator for magnetic and Micro-Robot carry out wireless energy transfer by magnetic field, described field generator for magnetic is the permanent magnet circumference array, described permanent magnet circumference array comprises 6 cylindrical permanent magnet, as shown in Figure 1, each permanent magnet around self center in array plane with identical speed rotation, thereby in rotating excitation field of array center point generation.This rotating excitation field intensity constant magnitude, rotary speed equals the rotational velocity of permanent magnet.O point place black matrix arrow is represented cylindrical permanent magnet among Fig. 1, and its direction of arrow is magnetic line of force direction on the axis.Described Micro-Robot comprises capsule shape matrix 1, as shown in Figure 2, adheres to two watt shape permanent magnetism sheets 2 that magnetic is relative on the cylindrical section of capsule shape matrix 1, and described two permanent magnetism sheets 2 make Micro-Robot produce a magnetic moment; The surface treatment of capsule shape matrix 1 cylindrical section of described Micro-Robot becomes helical surface 3, as shown in Figure 3, is convenient to itself and contactant (as: the interior viscosity body fluid of people's in-vivo tissue---enteron aisle, blood vessel or human body etc.) generation axially-movable when rotation contacts on every side.
By the external magnetic field control Micro-Robot motion of said system realization and the method for pose, comprise the steps:
1,6 permanent magnets are arranged along circumference aspect arrayed, formed the permanent magnet circumference array, the concrete operations step is---
(1) set up fixing global coordinate system YOZ, and the local coordinate system Y that rotates with permanent magnet
iO
iZ
i(i=1,2 ..., 6), local coordinate system forward Z
iBe permanent magnet internal magnetization direction, initial point O
iBe permanent magnet volume center point.
(2) with local coordinate system Y
lO
lZ
lInitial point O
lBe fixed on point (r under the global coordinate system
p, 0), and to be basic point with it evenly arrange all cylinder permanent magnets along circumference forward (counterclockwise) around the O point.The central point of permanent magnet is r at radius all
pCircumference on, the central angle of adjacent permanent magnet central point correspondence is 60 °.
(3) rotate each permanent magnet to correspondence position; Rotate local coordinate system successively and make its corner be followed successively by 0 ° with respect to global coordinate system, 120 °, 240 °, 360 °, 480 °, 600 °; In the array center zone, obtain intensity magnetic field very uniformly like this, its velocity of rotation equals the velocity of rotation of array permanent magnet.
2, preparation Micro-Robot: as adopting the capsule shape matrix, on the cylindrical section of capsule shape matrix, enclose two watt shape permanent magnetism sheets that magnetic is relative, make Micro-Robot have a magnetic moment; In addition, the cylindrical section Surface Machining of capsule shape matrix is become helical surface, be convenient to itself and contactant (as: in people's in-vivo tissue---enteron aisle, blood vessel or the human body viscosity body fluid etc.) generation axially-movable when rotation contact on every side.
3, permanent magnet array is adjusted after, Micro-Robot is placed the permanent magnet circumference array, magnetic moment and permanent magnet circumference array planes overlapping in the Micro-Robot.Need the swing Micro-Robot, when promptly adjusting it with respect to the angle of coordinate system, by adjusting three points on the array circumference simultaneously, make array plane around array center's spot wobble, be in the Micro-Robot of array center's point along with array plane is swung together this moment.So just can adjust the direction that Micro-Robot advances, also realize the swing of Micro-Robot at initial point.As shown in Figure 5, black arrow is a Micro-Robot axis direction among the figure, i.e. its direct of travel, and ellipse is the permanent magnet array circumference, the axis direction of Micro-Robot and pose thereof and the direction of motion are swung along with the swing of external array circumference.When Micro-Robot in pipeline, in the time of particularly in biological duct, when need driving the Micro-Robot rotation and advancing, drive the synchronous rotation respectively of each array permanent magnet simultaneously.Fig. 4 is the array permanent magnet direction of magnetization, array plane and permanent magnet rotation center triadic relation's schematic diagram.The rotating torque that the rotating excitation field that the permanent magnet circumference array produces forms a constant magnitude acts on Micro-Robot (permanent magnet circumference array center is over against Micro-Robot magnetic moment center), make it around self axis rotation, simultaneously by helical surface and the motion of the contact action realization Micro-Robot of contactant (as: people's in-vivo tissue---enteron aisle, blood vessel etc.) on every side.So just realized two kinds of forms of motion of Micro-Robot respectively, in actual use, also can realize Micro-Robot along curvilinear motion with two kinds of control methods in conjunction with simultaneously Micro-Robot being carried out, swing waits forms of motion at the volley.
The foregoing description is a preferred implementation of the present invention; but embodiments of the present invention are not restricted to the described embodiments; other any do not deviate from change, the modification done under spiritual essence of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (9)
1, a kind of external magnetic field control Micro-Robot motion and pose system, comprise field generator for magnetic, Micro-Robot, field generator for magnetic and Micro-Robot act on wireless connections by magnetic field, it is characterized in that: described field generator for magnetic is the permanent magnet circumference array, described permanent magnet circumference array comprises a plurality of permanent magnets, each permanent magnet rotates in array plane around self center, produces rotating excitation field at array center's point; Described Micro-Robot comprises the capsule shape matrix, adheres to two permanent magnetism sheets that magnetic is relative on the cylindrical section of capsule shape matrix, and described two permanent magnetism sheets make Micro-Robot produce a magnetic moment; Along circumference array, and each permanent magnet requires to forward to corresponding initial angle according to arranging to described permanent magnet circumference array by the volume center point of a plurality of permanent magnets.
2, external magnetic field control Micro-Robot motion according to claim 1 and pose system, it is characterized in that: the surface of the capsule shape matrix cylindrical section of described Micro-Robot is set to helical surface.
3, external magnetic field control Micro-Robot motion according to claim 1 and pose system, it is characterized in that: the permanent magnetism sheet of the capsule shape matrix cylindrical section of described Micro-Robot is sheet, strip or watt shape.
4, external magnetic field control Micro-Robot motion according to claim 1 and pose system, it is characterized in that: the mode that the relative permanent magnetism sheet of described two magnetic is attached to the cylindrical section of capsule shape matrix is the method that interference is inlayed or sticked together.
5, external magnetic field control Micro-Robot motion according to claim 1 and pose system, it is characterized in that: described permanent magnet is cylinder, cuboid or multi-faceted column shape.
6, external magnetic field control Micro-Robot motion according to claim 1 and pose system, it is characterized in that: the quantity of described permanent magnet is more than 2 or 2.
7, a kind of external magnetic field that is realized by each described system of claim 1～6 is controlled the method for Micro-Robot motion and pose, comprises the steps:
(1) n permanent magnet arranged along circumference aspect arrayed, formed the permanent magnet circumference array, concrete steps are---
(A) set up fixing global coordinate system YOZ, and the local coordinate system Y that rotates with permanent magnet
iO
iZ
i, i=1,2 ..., n, local coordinate system forward Z
iBe permanent magnet inner magnet induction direction, initial point O
iBe permanent magnet volume center point;
(B) with local coordinate system Y
1O
1Z
1Initial point O
1Be fixed on point (r under the global coordinate system
p, 0), and be that basic point is evenly arranged all cylinder permanent magnets along circumference around the O point with it; The central point of permanent magnet is r at radius all
pCircumference on, the central angle of adjacent permanent magnet central point correspondence is 360 °/n;
(C) rotate each permanent magnet to correspondence position; Rotate local coordinate system successively and make its corner be followed successively by 720 ° of * (i-1)/n with respect to global coordinate system, i=1,2 ..., n; In the array center zone, obtain intensity magnetic field very uniformly like this, its velocity of rotation equals the velocity of rotation of array permanent magnet;
(2) preparation Micro-Robot: adopt the capsule shape matrix, on the cylindrical section of capsule shape matrix, enclose the relative sheet of two magnetic or the permanent magnetism sheet of strip, make Micro-Robot have a magnetic moment; In addition, the cylindrical section surface treatment of capsule shape matrix is become helical surface, generation axially-movable when being convenient to it and contact with contactant rotation on every side;
(3) Micro-Robot is placed permanent magnet circumference array center, magnetic moment and permanent magnet circumference array planes overlapping in the Micro-Robot; When needing to adjust the Micro-Robot pose, adjust permanent magnet circumference array plane and Micro-Robot magnetic moment at an angle, realize the adjustment of the direction of motion in the Micro-Robot carrier; Simultaneously, the rotating torque that the rotating excitation field that the permanent magnet circumference array produces forms a constant magnitude acts on Micro-Robot, makes it around self axis rotation, simultaneously by helical surface and the motion of the contact action realization Micro-Robot of contactant on every side.
8, according to the application of each described external magnetic field control Micro-Robot motion of claim 1～6 and pose system, it is characterized in that: be applied to wireless energy transfer.
9, according to the application of each described external magnetic field control Micro-Robot motion of claim 1～6 and pose system, it is characterized in that: the carrier that is applied to the mini-medical apparatus.
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| KR101818400B1 (en) * | 2017-08-11 | 2018-01-15 | 한양대학교 산학협력단 | Magnetic Robot System |
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| US20210228298A1 (en) * | 2018-05-18 | 2021-07-29 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | Magnetic field generator |
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| CN109620108B (en) * | 2019-01-22 | 2021-04-20 | 大连理工大学 | Double-hemispherical capsule robot bending intestinal visual navigation method |
| CN109805883A (en) * | 2019-02-02 | 2019-05-28 | 佛山职业技术学院 | A kind of capsule endoscope drive system |
| CN111161937B (en) * | 2019-12-27 | 2021-04-27 | 浙江大学 | Magnetic field generation and control system based on magnet array and working method thereof |
| CN111267069B (en) * | 2020-03-19 | 2022-09-02 | 郑州大学 | Method for controlling magnetic micro-nano robot to run through magnetic substrate track |
| US11446814B2 (en) | 2020-06-01 | 2022-09-20 | Dalian University Of Technology | Electromagnetic drive spherical robotic wrist with two degrees of freedom and control method therefor |
| CN113303910B (en) * | 2021-05-25 | 2022-03-22 | 广州大学 | Internal spiral blood vessel spraying robot based on external magnetic field driving |
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| CN1944003A (en) | 2007-04-11 |
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