CN104983385B - A kind of main passive double hemispherical capsule robots and pose adjustment thereof drive control method with turning - Google Patents
A kind of main passive double hemispherical capsule robots and pose adjustment thereof drive control method with turning Download PDFInfo
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- CN104983385B CN104983385B CN201510262778.4A CN201510262778A CN104983385B CN 104983385 B CN104983385 B CN 104983385B CN 201510262778 A CN201510262778 A CN 201510262778A CN 104983385 B CN104983385 B CN 104983385B
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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
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
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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
- A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
nullThe invention belongs to automation engineering technical field，Relate to a kind of main、The most double semiglobe capsule robots drive by space Universal rotary magnetic vector and realize the basic control method that robot attitude in gastrointestinal tract arbitrarily adjusts and walks along each section of bending intestinal direction rolling，The former is made by the rotary magnetic vector applied above gastrointestinal tract contact surface and drives under the relatively passive hemisphere idling conditions of actively hemisphere the servo-actuated effect with respective party parallactic angle rotary magnetic vector to realize robot attitude in gastrointestinal tract arbitrarily to adjust，The latter is that the wireless image that spreads out of of reference capsules robot front end photographic head adjusts rotary magnetic azimuth vector respectively and makes robot axis basically identical with each section of intestinal bending direction，And the active hemisphere applying respectively to contact in each with the intestinal section of vertical rolling rotary magnetic vector driving axis of bending direction is in horizontal plane and with intestinal in horizontal plane drives each section of bending direction of Robot intestinal to roll walking.
Description
Technical field
The invention belongs to automation engineering technical field, relate to a kind of active and passive pair of semiglobe capsule machine
People drives attitude in gastrointestinal tract arbitrarily to adjust by space Universal rotary magnetic vector and is rolling along bending intestinal
The basic control method of walking, the former is made by the rotary magnetic vector applied above gastrointestinal tract contact surface and drives main
Under the relatively passive hemisphere idling conditions of dynamic hemisphere, the servo-actuated effect with respective party parallactic angle rotary magnetic vector realizes
Robot attitude in gastrointestinal tract arbitrarily adjusts；The latter is the reference capsules robot wireless biography of front end photographic head
Publish picture as adjustment rotary magnetic azimuth vector makes robot axis and each section of intestinal bending direction basic respectively
Cause, and in horizontal plane, apply the rolling rotary magnetic vector drive shaft that each with intestinal section of bending direction is vertical respectively
The active hemisphere band mobile robot in line is in horizontal plane and contacted with intestinal is respectively along each section of bending side of intestinal
To rolling walking.
Background technology
Rely on the capsule endoscope of intestinal peristalsis promoting passive walking the most by clinic application, owing to attitude can not with motion
Control, still there is vision-based detection blind area, the loss of general capsule endoscope about 20 percent, because of
This, actively controlling of capsule endoscope attitude and walking is extremely important and extremely challenging.Due to magnetic control glue
Capsule robot reliability is good, safety is high, and magnetic field non-contact control has become as domestic and international study hotspot.
U.S. Sehyuk Yim et al. uses one piece of large-scale permanent magnet in outside to produce one flexible glue in field drives body
Capsule endoscope realizes stomach diagnosis and treatment.Capsule endoscope head and afterbody are respectively mounted two pieces of permanent magnets, shell
Mollielast can avoid damage to intestinal, increase under external magnetic field axial stretching degree of freedom in order to discharging and
Injection medicine, and under the driving of external permanent magnets rotating excitation field, realize the robot rolling on gastrointestinal surface.
Shortcoming is that magnetic field of permanent magnet exists gradient, arrives appointment position according to external permanent magnets driven machine people, must
Inside and outside permanent magnet spacing must be maintained constant, owing to capsule robot exact position in intestinal cannot be real
Time monitoring, therefore cannot accurately control the magnetic force of external permanent magnets, robot location controls inaccuracy, motion
Discontinuously, poor stability, in fact it could happen that the excessive phenomenon of magnetic force, even occurs that magnetic impact damages gastrointestinal group
The danger knitted, uses external permanent magnets to change magnetic direction operation complexity, very flexible, and robot is at gastrointestinal
In road, pose adjustment is the most nimble with rolling travelling control of turning.
Italy University of Pisa Federico Carpi et al. proposes the one using St.Louis company of the U.S. to develop
Magnetic navigation system positions capsule robot position in vivo, i.e. uses two large-scale magnets to be individually placed to glue
The both sides of capsule endoscope produce uniform static magnetic field, and capsule robot is by Israel M2A capsule endoscope table
Face covers two panels magnetic shell and constitutes, and the two pieces of large-scale co-axial permanent magnets being arranged on sick bed both sides can be in region
Controlling to produce maximum intensity is the uniform magnetic field of 0.08T.The test result of anthropometric dummy is shown by perspective scanner
Magnetic navigation alignment system can realize capsule endoscope control of azimuth in three dimensions.But use this uniform magnetic
Capsule robot is driven cannot accurately to control magnetic induction, thus the rotation magnetic force of uncontrollable robot
Square；The location of robot can be realized, due to the inconvenience of magnetic field space steering operation, it is impossible to realize robot
It is movably walking.
This seminar result of study shows that the rotating excitation field of large-scale monolithic rotor magnet is big gradient static magnetic field,
During the magnetic coupling of gradient magnetic and capsule robot embedded diametrical magnetization ndfeb magnet, embedded radial direction magnetic
The attitude changing neodymium iron boron has instability and nonuniqueness, i.e. uses rotor magnet to carry out the method for posture adjustment not
Can accurately control the attitude of embedded diametrical magnetization neodymium iron boron capsule robot, it is impossible to realize the panorama within intestinal
Observe；During the magnetic coupling of gradient magnetic and capsule robot embedded axial magnetized ndfeb magnet, machine
People's attitude has uniqueness, but magnetic force is difficult to control to, and capsule robot can be moved to be close to intestinal wall state by Magnet
And make, by rotary magnet posture adjustment, difficulty occurs.Robot pose adjustment in intestinal is controlled with rolling walking of turning
Poor stability processed, the large change of Magnet distance can cause the danger of magnetic impact intestinal wall.Theory analysis and examination
Test the static gradient magnetic field showing to use external magnet and control embedded neodymium iron boron capsule robot attitude and motion control
The method poor operability of system, limitation are big.
Freely walk in bending intestinal to realize capsule robot, reduce the damage to human body intestinal canal, this
At acquired national inventing patent, " internal medical miniature robot universal rotary magnetic field drives and controls in seminar
Method " in (license number: ZL 200810011110.2), it is proposed that the adjustable space of rotation axis is universal
Rotating with Uniform field drives control method.
In acquired national inventing patent " universal superposition rotating excitation field rotation axis orientation, space and rotation direction
Control method " in (license number: ZL 201210039753.4), by with a certain fixed axis side, space
Parallactic angle is the various antiphases electricity of the same frequency three phase sine current signal of the related amplitude value of input variable and phase place
The universal uniform rotation in space of superposition in the combination type of drive nested Helmholtz coil device orthogonal with three axles of stream
Based on turning the rotary shaft orientation in magnetic field and the Changing Pattern of rotation direction, it is achieved that space universal rotary magnetic field rotates
Axis direction and the rotation direction uniqueness in each quadrant of space coordinates controls, for realizing robot pose
Adjust and lay a good foundation with directed driven walking.
Research find homogeneous space universal rotary magnetic field completely different with static gradient magnetic field, it be utilize embedded
Diametrical magnetization ndfeb magnet capsule robot axis and the servo-actuated effect of space universal rotary magnetic field rotation axis
Realizing robot pose control, capsule robot is equivalent to the magneto gyrocompass rotated, good stability.Servo-actuated effect
It is a kind of dynamic magnetic effect, is in the attitude of robot in rotating excitation field and there is uniqueness, therefore, space ten thousand
The defect of static rotating excitation field can be overcome to rotating excitation field, accurately control capsule robot in gastrointestinal tract
Pose adjustment, makes the panorama in gastrointestinal tract observe and is possibly realized.
Seminar has carried out years of researches to helical capsule robot, in robot when capsule robot drives
Surface forms a layer fluid dynamic pressure film, belongs to noncontact driving, improves internal driving safety, tests table
Bright by universal rotary magnetic field can control robot bending intestinal in realize advance, retreat and turn.But
Helical capsule robot requires height to fluid condition in intestinal, and patient drinks too much liquid can change enteric juice
Physiological condition, when in intestinal less fluid and when not possessing hydrodynamic film drive condition, or work as interstitial space
Little and when there is gauffer, there is the risk of distortion intestinal in the spiral ribs of robot, easily causes patient uncomfortable.Examination
Test and show elongated cylinder capsule robot or retrained by gauffer intestinal, or attitude is lost because magnetic field is cancelled
Surely, pose adjustment is relatively difficult, and in gastrointestinal, panorama is observed and is difficult to.Visible, spiral cylinder body capsule machine
There is limitation in device people's posture adjustment and turning travelling control.
Spherical structure than cylindrical shape in gastrointestinal non-structure environment pose adjustment with turn time motility with
Universal property is good.In order to realize pose adjustment and Servo Control, we are to embedded diametrical magnetization neodymium iron boron magnetic body
Ball-type capsule robot has carried out lot of experiments, although space universal rotary magnetic field technology has been achieved with dashing forward
Broken, the servo-actuated effect of robot axis and space universal rotary magnetic field can realize the uniqueness of attitude and control, but
When adjusting attitude capsule robot can in gastrointestinal tract random rolling and attitude instability miss region to be checked, be subject to
Intestinal non-structure environment affects, and ball shape robot rolls the direction of walking and also is difficult to control.
In order to avoid during posture adjustment, ball shape robot rolls in gastrointestinal tract and ensures that robot axis is in original place and rotation
Turn field synchronous servo-actuated, in conjunction with motility and the universal property of spherical structure posture adjustment and turning, universal according to space
The stability of rotating excitation field servo-actuated effect posture adjustment and uniqueness characteristic, the present invention proposes a kind of active and passive double half
Ball-type capsule robot, contour structures is made up of active hemisphere and passive hemisphere split, actively hemispherical Shell
It is consolidated into actively hemisphere, actively hemisphere and passive half with the endoscope of embedded diametrical magnetization neodymium iron boron magnetic body
Suspended by bearing between spheroid and connect, space Universal rotary magnetic vector and the coupling of embedded diametrical magnetization neodymium iron boron magnetic body
Closing magnetic torque and drive actively hemisphere, passive hemisphere is below under counterweight effect all the time, is in and owes to drive
Dynamic state, the passive hemisphere under the restrictions of the frictional force contacted with gastrointestinal tract remains static, and can prevent machine
Roll during device people's posture adjustment, actively hemisphere be in top do not contact with gastrointestinal tract or with gastrointestinal tract contact area
Territory is less, and actively hemisphere is located relatively at following static passive hemisphere idle running, at gastrointestinal during adjustment attitude
Road contact surface rotary magnetic applied above vector, servo-actuated effect makes robot axis follow the rotation of respective party parallactic angle always
The attitude that the axis turning magnetic field realizes in gastrointestinal tract arbitrarily adjusts observes with panorama.
Under-actuated systems refers to the system independent control variable number system less than degree of freedom in system number, in rotation
Turning under the servo-actuated effect effect of magnetic field, robot axis follows respective party parallactic angle space universal rotary magnetic field always
Axis, the capsule robot under rotating excitation field servo-actuated effect effect has gyroscopic inertia, it is clear that ignore robot
Swing the active hemisphere only one of which slided relative with intestinal orientation rotary freedom, if add by
Dynamic hemisphere, adds the most again a drive lacking degree of freedom, has double hemisphericals of drive lacking hemispherical dome structure
Robot is saving energy, is reducing aspects such as controlling difficulty, raising fault-tolerance, enhancing system flexibility the most relatively
Drive system completely is superior, improves the self-adaptative adjustment to non-structural intestinal environment and driving force.
Complicated intestinal three-dimensionalreconstruction based on image can't realize, it is achieved capsule robot is in intestinal inside turn
Rolling must adjust Universal rotary magnetic vector azimuth, space by front end wireless visual pattern segmentation respectively and make machine
Device people's axis is basically identical with every section of intestinal bending direction, and in the horizontal plane of every section of intestinal respectively apply with
The rotary magnetic vector that each section of bending direction of intestinal is substantially vertical, servo-actuated effect makes robot axis be in horizontal position
Putting, main passive double hemispheres all contact with intestinal, and actively hemisphere produces with intestinal under rotating excitation field effect
Roll drive power, drive lacking hemisphere rolls as follower, it is achieved that this section of bending direction rolling of Robot
Dynamic limited distance.Repeating said process, in just realizing bending intestinal, panorama based on posture adjustment is observed and rolling of turning
Dynamic walking.Drive environment is required low by ball shape robot, has no liquid, it is not required that intestinal in gastrointestinal tract
In road hydraulically full, in intestinal, big viscosity liquid does not affect robotically-driven, experiment show that ball shape robot exists
Still there is in adhering to a small amount of oil film intestinal wedge effect, form a kind of dynamic pressure oil film, it is achieved that robot with
The noncontact driving of intestinal, not only adds driving safety but also adds rolling moment.
Main passive double hemispherical capsule robot posture adjustment good stabilities, turning roll capability is strong, and can overcome wrinkle
Pleat intestinal resistance and the servo-actuated posture adjustment of rotating excitation field, be expected to make the diagnosis and treatment in gastrointestinal to come true.
Summary of the invention
The technical problem to be solved in the present invention is: provides and is made up of active and passive two hemispheres in a kind of structure
Double hemispherical capsule robots, existed by the rotary magnetic vector being respectively applied to above gastrointestinal tract contact surface
The driving control method of the rotary magnetic vector that horizontal plane is interior and vertical with intestinal bending direction, solution should guarantee
Do not occur during robot posture adjustment to roll and miss viewing area and ensure that actively hemisphere axis is servo-actuated to level again
Face also contacts the contradiction realized between robot actively rolling walking with intestinal；Take the photograph by capsule robot front end
As a wireless Image Adjusting robot axis that spreads out of is basically identical with intestinal bending direction, and execute in horizontal plane
Add vertical with the intestinal bending direction control method rolling rotary magnetic vector to avoid image technology and can not realize weight
The technical barrier of folded intestinal three-dimensionalreconstruction, it is achieved robot is in intestinal inside turn.
The technical scheme is that
A kind of main passive double hemispherical capsule robots, including actively hemisphere and passive hemisphere two parts group
Become, the neodymium iron boron annulus inner driver of diametrical magnetization is embedded photographic head rear end and is fixed as one, the most in the lump
Embed actively hemispherical Shell, i.e. constitute actively hemisphere, by passive hemispherical Shell and the bearing i.e. structure of abutment sleeve consolidation
Becoming passive hemisphere, active and passive hemisphere is suspended by two bearings and connects, bearing outer end install round nut with
Realize bearing axially to position, space universal rotary magnetic field and actively hemisphere embedded diametrical magnetization neodymium iron boron annulus
The coupling magnetic torque of inner driver drives the relatively passive hemisphere idle running of actively hemisphere, and passive hemisphere is in
Drive lacking state, drive lacking hemisphere structure enhances the stability of double hemispherical capsule robot pose adjustment
With the adaptive ability to non-structure environment.
Realize the universal adjustment of capsule robot attitude: passive hemisphere begins under counterweight effect as tumbler
Being in following eventually, actively hemisphere is in above all the time, and passive hemisphere is in quiet under contact intestinal constraint
Only state, it is ensured that robot initial axis attitude vertically upward, adjusts for robot pose and provides convenience
Condition, moreover it is possible to support actively hemisphere not little with intestinal contact internal walls or contact area, owing to attitude is adjusted
Whole the applied rotary magnetic vector being in above gastrointestinal tract contact surface, can prevent robot from sending out when posture adjustment
Life rolls and misses viewing area, posture adjustment good stability, and the coupling magnetic torque in external rotation magnetic field drives the most partly
The relatively passive hemisphere idle running of spheroid, actively hemisphere axis (i.e. robot axis) is under servo-actuated effect effect
The moment of resistance that can overcome gauffer intestinal is servo-actuated with respective party parallactic angle rotating excitation field axis, and then realizes robot and exist
In gastrointestinal tract, any adjustment of attitude, understands rotary magnetic vector axis by Digital Control, is just aware of machine
Device people's attitude, owing to passive hemisphere is in following under counterweight effect, after rotating excitation field stops, robot is quiet
The most motionless, it is ensured that the attitude after adjustment is constant, the wireless image spread out of by photographic head can be carried out diagnosis and see
Examine, owing to the visual angle of robot photographic head is 150 degree, therefore, control universal magnetic field, space at gravimetric plumb line
In the range of 45 degree of semi-cone angle, it is uniformly distributed four observed bearings, just can realize the panorama in gastrointestinal tract and observe.
When passive hemisphere is bigger, beneficially pose adjustment, viewing angle scope is bigger.
Realize capsule robot to roll along intestinal bending direction: by capsule robot front end radio transmitting image
Adjusting Universal rotary magnetic vector azimuth, space makes robot axis basically identical with intestinal bending direction, and
The rotary magnetic vector vertical with intestinal bending direction, under servo-actuated effect effect, robot is applied in horizontal plane
Axis follows horizontal rotation magnetic vector direction and (if the rotating speed of rotating excitation field is less, is not enough to kinetic moment
Changing robot vertical axis, passive hemisphere is below under gravity, then robot axis meeting
Advance around the rolling of rotating excitation field axis), actively hemisphere all contacts with intestinal lower wall with passive hemisphere, coupling
Magnetic moment drives actively hemisphere contact intestinal lower wall actively to roll, and drive lacking hemisphere passively rolls with intestinal lower wall
Dynamic, make double hemispherical capsule robot roll limited distance along certain bending direction in intestinal.By that analogy,
Adjust rotating excitation field azimuth by the wireless ocular segmentation in capsule robot front end and make robot axis and each section of intestinal
Road bending direction is basically identical, and applies the rotation vertical with each section of intestinal bending direction in horizontal plane respectively
Magnetic field, just achieves capsule robot walking in bending intestinal.
Even if it is very big with the intestinal bending direction error of perpendicularity, only to be applied to roll rotary magnetic vector in horizontal plane
Wanting actively hemisphere to contact with intestinal lower wall, robot still can move ahead by roll and slide, but before error is the biggest
Line speed is the lowest, and ball shape robot, to rotating excitation field orientation zmodem, makes rolling in intestinal unstructured moving grids
The operability of dynamic walking becomes simple.
Actively hemisphere and passive hemispheroidal size affect posture adjustment and rolling characteristics.When active hemisphere is bigger
Time, being conducive to rolling walking, viewing angle scope reduces；Otherwise, roll capability reduces, viewing angle model
Enclose change big.When active hemisphere increases to whole spherome surface, become as driving ball shape robot system completely
System, this system can only roll, it is impossible to realizes pose adjustment；When passive hemisphere increases to whole ball surface,
Actively hemisphere develops into inner rotation body, can only realize pose adjustment, it is impossible to realize rolling.Meet simultaneously
The solution route of posture adjustment stability and rolling characteristics be make actively hemisphere fewer than half, suitably increase actively half
The coefficient of friction of spherical shell surfacing, as used latex surface etc..
The present invention is by being respectively applied to the rotary magnetic vector horizontal plane above gastrointestinal tract contact surface and intestinal
The control method of the rotary magnetic vector that bending direction is vertical both ensure that robot did not rolled when adjusting attitude
Move and miss some viewing area, also ensure that actively hemisphere axis is servo-actuated to horizontal plane and contacts with intestinal
Realize robot and actively roll this difficult problem of walking, pose adjustment good stability, it is possible to achieve be complete in gastrointestinal tract
View is examined, and reduces loss.Double hemispherical robots zmodem to rotating excitation field orientation, actively turns
Drive safe and reliable, less demanding to intestinal environment fluid condition, even if ball shape robot a small amount of or
All can produce wedge effect in being full of big viscosity liquid, form hydrodynamic film, it is achieved in intestinal, noncontact is driven
Dynamic, not only safety but also be of value to the increase of robot rolling moment.Wireless by capsule robot front end photographic head
Spread out of Image Adjusting robot axis basically identical with intestinal bending direction, and apply and intestinal in horizontal plane
The Servo Control method rolling rotary magnetic vector that bending direction is vertical avoids image technology can not realize weight
The technical barrier of folded intestinal three-dimensionalreconstruction, it is achieved that intestinal inside turn, it is only necessary to apply clockwise rotation
The magnetic field turned can realize the pose adjustment advance interior with bending intestinal of robot, retreat.
Accompanying drawing explanation
Fig. 1 is a kind of space Universal rotary detecting active and passive pair of hemispherical robot for gastrointestinal tract of the present invention
Turn magnetic field drive and control system schematic diagram.
Fig. 2 (a) Shi Shuan hemispherical robot external structure partial enlarged drawing
Fig. 2 (b) is double hemispherical robot interior structure partial enlarged drawings.
Fig. 3 (a) Shi Shuan hemispherical robot pose adjustment schematic diagram in intestinal.
Fig. 3 (b) is the adjustment process schematic of double hemispherical robot axis alignment intestinal bending direction.
Fig. 3 (c) Shi Shuan hemispherical robot walks schematic diagram in corner bend pipe.
In figure: a control system operation interface；B controller；C sick bed；D patient；The e tri-axle orthogonal nested last of the twelve Earthly Branches
Mu Huozi coil magnetic field stacking apparatus；F master's the most double hemispherical capsule robot；G flexibility intestinal；ω rotates
Magnetic field angle speed；
1 active hemispherical Shell；2 passive hemispherical Shells；3 bearing abutment sleeves；4 bearings；5 round nuts；6 ladders
Axle；7 diametrical magnetization neodymium iron boron inner drivers；8 photographic head and image transmission.
Detailed description of the invention
Specific embodiment is described in detail below in conjunction with technical scheme and accompanying drawing.
Below in conjunction with the accompanying drawings 1, to a kind of space detecting active and passive pair of hemispherical robot for gastrointestinal tract
Universal rotary magnetic field driving means is simply introduced at gastrointestinal tract detection operation process with control system.
Three groups of mutually orthogonal nestings of coil are mounted to the orthogonal nested Helmholtz coil magnetic field superposition device of three axles
E, allows patient d swallow main passive double hemispherical capsule robot f, and lies on sick bed c, adjust sick bed c
Position make patient d be in the central area of the orthogonal nested Helmholtz coil magnetic field superposition device e of three axles,
The amplitude relevant to robot axis azimuth is inputted in DSP28335 Digitizing And Control Unit operation interface a
The three-phase drive electric current of formula (1) is strictly met, by just driving dynamic triaxial respectively after controller b power amplifier with phase place
Hand over X, Y, Z tri-axial coil of nested Helmholtz coil magnetic field superposition device e, finally orthogonal embedding at three axles
Superposition synthesis respective party parallactic angle rotary shaft in the certain space that set Helmholtz coil magnetic field superposition device e surrounds
The preferable rotating excitation field of line.This device can adjust the orientation of rotating excitation field, field intensity, frequency with digitized, turn
To, be suitable to the interior driving of bending environment in intestinal.
Wherein, α, beta, gamma is respectively vectorWith the x of dimensional Cartesian coordinates system, y, the deflection of z-axis,I0For the sine being passed through in three groups of orthogonal Helmholtz coils
The amplitude of signal code, ω is the angular velocity applying sinusoidal signal electric current, and the frequency applying sinusoidal signal electric current isMagnetic field rotation direction is clockwise, and is obtained for checking by emulation and experiment.
Following magnetic field rotation direction is clockwise, and the axis of rotating excitation field and the direction of rotation in magnetic field meet a left side
Hand rule, below repeats no more.
In conjunction with accompanying drawing 2 (a), (b), a kind of population structure leading passive double hemispherical capsule robot, its bag are described
Include actively hemisphere and passive hemisphere two parts, by diametrical magnetization neodymium iron boron annulus inner driver 7 and shooting
Head and image transmission 8 elastic conjunction, by multidiameter 6 also with photographic head and image transmission 8 interference
Assembling, finally constitutes main again by photographic head with image transmission 8 assembly with active hemispherical Shell 1 interference fit
Dynamic hemisphere；Bearing abutment sleeve 3 constitutes passive hemisphere with passive hemispherical Shell 2 interference fit, the most partly
Spheroid and passive hemisphere are as follows by bearing 4 process connected that suspends: bearing 4 is arranged on actively hemisphere
On the multidiameter 6 of assembly, then it is fixed that the bearing 4 on active hemisphere assembly multidiameter 6 loads bearing in the lump
In the sleeve 3 of position, there is a step to realize bearing 4 outer ring inside bearing abutment sleeve 3 and axially position, round nut 5
Loading on multidiameter 6 axially to be positioned by bearing 4 inner ring, round nut 5 can not be projected into beyond sphere, with
Prevent from actively hemisphere rotation process driving round nut 5 to contact with intestinal and affect pose adjustment.Rotating excitation field with
The coupling magnetic moment of diametrical magnetization neodymium iron boron annulus inner driver 7 drives and includes photographic head and image transmission 8
Active hemisphere relatively dally around passive hemisphere, actively hemisphere is in driving condition, passive hemisphere
It is in drive lacking state.
It is embodied as below in conjunction with the main passive double hemispherical capsule robot pose adjustment of accompanying drawing 3 (a) explanation one
Mode, selecting rotating excitation field frequency is 5Hz, when robot is in gastrointestinal tract, due to the most hemispheroidal
Weight more than actively hemisphere, passive hemisphere be always positioned at as tumbler under gravity below and
Remaining static under flexible intestinal g constraint, actively hemisphere is always positioned at above, keeps robot axis
For gravimetric plumb line, photographic head and image transmission 8 are in vertically upward, make actively hemisphere not with intestinal
Contact internal walls or contact area are the least, effectively prevent robot and roll when the internal posture adjustment of gastrointestinal tract and go out
Existing missing inspection region, attitude stability is good.Initial attitude vertically upward under robot counterweight effect is conducive to machine
Device people's gesture stability and the driving walking in bending intestinal.
External rotation magnetic field drives actively hemisphere phase with the magnetic torque that couples of diametrical magnetization neodymium iron boron inner driver 7
To static passive hemisphere idle running, actively hemisphere axis revolves with respective party parallactic angle under servo-actuated effect effect
Turn magnetic field rotating axis servo-actuated, it is achieved robot attitude in gastrointestinal tract arbitrarily adjusts.As shown in Fig. 3 (a),
First n is applied1The magnetic vector in direction, n1Deflection is (90 °, 90 °, 0 °), now robot photographic head and figure
As transmitting device 8 points up n1, actively hemisphere rotates around robot axis with rotating excitation field angular velocity omega,
Apply vertical rotary magnetic field purpose be Reliable guarantee robot initial orientation be gravimetric plumb line, make follow-up appearance
It is more convenient, reliable with driving of turning that state adjusts.
Owing to passive hemisphere is in following under counterweight effect as tumbler all the time, certain orientation rotation magnetic
After field stops, the attitude after ball-type capsule robot can be kept to adjust is constant, due to robot photographic head and figure
As the visual angle of transmitting device 8 is 150 degree, therefore, universal magnetic field, space is controlled at 45 degree of half-angles of gravimetric plumb line
In the range of cone, for convenience's sake, in coordinate plane, it is uniformly distributed four observed bearings just can cover whole
Region, four orientation vector n2、n3、n4、n5, deflection be respectively (90 °, 45 °, 45 °), (45 °, 90
°, 45 °), (90 °, 135 °, 45 °), (135 °, 90 °, 45 °), apply above azimuth rotary magnetic vector respectively,
Actively hemisphere rotor will directly be respectively directed to above-mentioned direction under magnetic torque Following effect, just can realize gastrointestinal
Panorama in road is observed.
Below in conjunction with the main passive double hemispherical capsule robots of accompanying drawing 3 (b) explanation one by radio transmitting image
Realize the method for adjustment of robot alignment intestinal bending direction, it is characterised in that:
When a kind of main passive double hemispherical capsule robots are in one section of bending intestinal, first, apply n1Direction
Magnetic vector, although photographic head and image transmission 8 axis (robot axis) are all the time under counterweight effect
Straight up, photographic head and image transmission 8 can but be eliminated under the servo-actuated effect effect of magnetic vector straight up
The error of perpendicularity footpath of inceptive direction is more consistent with perpendicular magnetic direction vector, makes the attitude of follow-up servo-actuated effect adjust
Whole more reliable.Then, according to the servo-actuated effect principle that robot axis is the most consistent with magnetic vector direction, logical
Cross and repeatedly adjust magnetic vector direction until being observed by the radio transmitting image of photographic head with image transmission 8
Robot axis arrival servo-actuated with magnetic vector direction is basically identical with intestinal bending direction, and specific implementation process is,
First, in YOZ plane, apply several rotary magnetic vector, the process in Digital Control magnetic vector orientation be to
DSP28335 Digitizing And Control Unit operation interface a in input be positioned at YOZ plane magnetic vector azimuth be correlated with
Amplitude and phase place strictly meet the driving electric current of formula (1), by driving dynamic triaxial respectively after controller b power amplifier
X, Y, Z tri-axial coil of orthogonal nested Helmholtz coil magnetic field superposition device e, finally orthogonal at three axles
In the certain space that nested Helmholtz coil magnetic field superposition device e surrounds, superposition synthesis respective party parallactic angle rotates
The preferable rotating excitation field of axis.By the radio transmitting image of photographic head Yu image transmission 8, until seeing
Observe axis (robot axis) n in YOZ vertical plane of photographic head and image transmission 86Direction pair
Quasi-intestinal bending direction, now, can determine the rotation axis measurement of rotating excitation field by Digitizing And Control Unit,
The most indirectly determine angle of pitch δ and the intestinal bending direction of robot axis.Then, YOZ plane is kept
Interior intestinal bending direction angle of pitch δ is constant, in like manner, applies several rotary magnetics in the i.e. horizontal direction of X-axis and vows
Amount, by the radio transmitting image of photographic head Yu image transmission 8, until observing photographic head and image
The axis of transmitting device 8 is at n7The bending direction of direction alignment intestinal, due to applied magnetic vector direction and machine
Device people's axis is identical, i.e. determines yaw angle θ of robot axis, so far determines intestinal bending direction vector
n7=(sin θ, cos θ cos δ, cos θ sin δ), and complete robot and intestinal bending direction be directed at operation.
Below in conjunction with accompanying drawing 3 (c) the explanation main passive double hemispherical capsule robots of one in bending intestinal by
Radio transmitting image controls the detailed description of the invention that robot turns, and in figure, one section of three dimensional angle elbow includes
AB and BC two sections, AB vector direction angle is (30 °, 60 °, 90 °), BC deflection be (30 °, 120
°, 90 °), introduce robot pose in detail below and adjust process and roll Servo Control process.
Robot when AB section, first A point apply deflection be (90 °, 90 °, 0) straight up just
To magnetic vector, to ensure that magnetic vector direction is consistent with image transmission 8 direction with photographic head, then by with
Dynamic effect adjusts robot pose.Then, by the radio transmitting image of photographic head Yu image transmission 8
And repeatedly adjust magnetic vector orientation, according to servo-actuated effect principle, adjust robot eventually through Digital Control
Axis arrival servo-actuated with magnetic vector direction is basically identical with intestinal bending direction, applied magnetic vector deflection
Be with image transmission 8 direction vector with pipe bending direction and photographic head (30 °, 60 °, 90 °),
Direction vector isAccording to servo-actuated effect principle, pass through
Digital Control is aware of the rotation axis measurement of space universal rotary magnetic field, has been known that intestinal bending direction.
After determining pipe bending direction, roll walking for the ease of controlling Robot bending intestinal direction, will control
System rolls rotary magnetic direction vector and limits in a horizontal plane, rolls rotary magnetic direction vector calculating process as follows:
By means of the vector n under being directed vertically to=(0,0 ,-1), then vertical with pipe bending direction in horizontal plane rolling
Magnetic vector direction is:
And n can be tried to achieve8* deflection:
To DSP28335 Digitizing And Control Unit operation interface a in input meet formula (1) and with magnetic vector direction
Angle is the amplitude and the three-phase drive electric current of phase place that (120 °, 30 °, 90 °) are relevant, just creates respective party
The rotating excitation field of position.Detailed process refers to Patents.
When robot motion to B point, adjust robot pose, make photographic head and image transmission 8 with
Rotary magnetic vector and point to BC direction,Recurring formula
(2), (3) obtain the magnetic vector n that B point control rolls9* deflection is (60 °, 30 °, 90 °).
If intestinal has more bending, repeat above procedure, just can realize bending the turning rolling of intestinal inner machine people
Dynamic.When needing pose adjustment to carry out panorama observation, can first carry out pose adjustment, then drive walking of turning,
The most just the comprehensive diagnosis and treatment in bending environment are achieved.
Realizing robot method of reversely walking in bending intestinal is by rolling magnetic vector n8And n *9* distinguish
Turnback is revolved around vertical line in horizontal plane.
Claims (1)
1. master's the most double hemispherical capsule robot, it is characterised in that:
External structure is made up of active hemisphere and passive hemisphere two parts, the most hemispheroidal assembling process
It is by diametrical magnetization neodymium iron boron annulus inner driver (7) and photographic head and image transmission (8) elastic conjunction,
By multidiameter (6) also with photographic head and image transmission (8) elastic conjunction, finally photographic head is passed with image
Defeated device (8) assembly realizes with active hemispherical Shell (1) interference fit again；Passive hemispheroidal assembling process is
Bearing abutment sleeve (3) is realized with passive hemispherical Shell (2) interference fit, actively hemisphere and passive hemisphere
Body is realized suspending by two bearings (4) and connects and make the two to relatively rotate, the assembling process connected that suspends be by
Bearing (4) is arranged on the multidiameter (6) of actively hemisphere assembly, then will active hemisphere assembly multidiameter (6)
On bearing (4) load in the lump in bearing abutment sleeve (3), bearing abutment sleeve (3) is internal has a step to realize
Bearing (4) outer ring axially positions, and bearing (4) inner ring is axially positioned by round nut (5) loading multidiameter (6)；
What space universal rotary magnetic field produced with diametrical magnetization neodymium iron boron inner driver (7) couple, and magnetic torque drives includes
Photographic head passive hemisphere idle running relative with the active hemisphere of image transmission (8), passive hemisphere is in
Drive lacking state.
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| CN105662318B (en) * | 2016-01-08 | 2018-01-26 | 大连理工大学 | A kind of space universal rotary magnetic field man-machine interaction control method |
| CN106344018B (en) * | 2016-09-13 | 2023-10-27 | 天津理工大学 | Wireless micro-channel capsule mother-son robot and working method thereof |
| US11541015B2 (en) | 2017-05-17 | 2023-01-03 | Massachusetts Institute Of Technology | Self-righting systems, methods, and related components |
| IL301683A (en) | 2017-05-17 | 2023-05-01 | Massachusetts Inst Technology | Self-righting systems and related components and methods |
| CN108042093A (en) * | 2017-11-14 | 2018-05-18 | 重庆金山医疗器械有限公司 | A kind of control method of capsule endoscope, apparatus and system |
| CN108759812B (en) * | 2018-03-28 | 2021-04-20 | 大连理工大学 | Relative positioning method for capsule robot and target to be measured in three-dimensional closed non-structural space |
| CN109623813B (en) * | 2018-12-10 | 2021-09-10 | 国电南瑞科技股份有限公司 | Magnetic field positioning and path planning method for distribution line live working robot working end |
| CN109766784A (en) * | 2018-12-21 | 2019-05-17 | 北京理工大学 | Capsule robot interaction control method based on monocular image |
| US11771829B2 (en) | 2019-02-01 | 2023-10-03 | Massachusetts Institute Of Technology | Systems and methods for liquid injection |
| CN109998457B (en) * | 2019-04-29 | 2021-07-16 | 大连理工大学 | Active and passive double-hemisphere high-integration capsule robot capable of wirelessly transmitting images |
| CN110101356A (en) * | 2019-06-03 | 2019-08-09 | 河南工学院 | A kind of non-contact detection method and system of the fluid torsional moment of capsule robot |
| CN110327011B (en) * | 2019-06-26 | 2021-04-20 | 大连理工大学 | Double-hemisphere capsule robot attitude detection method based on magnetic vector error calibration image |
| CN112294239A (en) * | 2019-07-25 | 2021-02-02 | 北京微纳灵动科技有限公司 | Magnetic control system of capsule robot |
| 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 |
| CN112998637B (en) * | 2021-02-04 | 2022-04-12 | 北京科技大学 | Self-propelled capsule endoscope based on rotation and impact dual-drive mode |
| CN113730639B (en) * | 2021-09-15 | 2022-05-06 | 上海大学 | Magnetic dressing and preparation method and application thereof |
| CN115054181A (en) * | 2022-06-09 | 2022-09-16 | 中国科学院深圳先进技术研究院 | Tumbler capsule robot |
| CN115089092B (en) * | 2022-06-20 | 2023-03-24 | 元化智能科技(深圳)有限公司 | Capsule endoscope motion control device |
| CN115020065B (en) * | 2022-06-29 | 2023-09-05 | 北京理工大学 | Online magnetization system and magnetization method for micro-robot |
| WO2024050882A1 (en) * | 2022-09-06 | 2024-03-14 | 大连理工大学 | Omnidirectional observation under-actuated capsule robot and axial flip magnetic control operation method therefor |
| CN115844313A (en) * | 2023-03-02 | 2023-03-28 | 微纳动力(北京)科技有限责任公司 | External control device of magnetic control capsule robot |
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