CN112294240A - Magnetic control method of capsule robot - Google Patents
Magnetic control method of capsule robot Download PDFInfo
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- CN112294240A CN112294240A CN201910675073.3A CN201910675073A CN112294240A CN 112294240 A CN112294240 A CN 112294240A CN 201910675073 A CN201910675073 A CN 201910675073A CN 112294240 A CN112294240 A CN 112294240A
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- 239000002775 capsule Substances 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000003321 amplification Effects 0.000 claims abstract description 5
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 45
- 230000003238 somatosensory effect Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- 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
- A61B1/045—Control thereof
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention discloses a magnetic control method of a capsule robot, which comprises the following steps: generating a control signal; converting the control signal to an analog voltage signal; outputting a current signal after performing power amplification on the analog voltage signal; and controlling the capsule robot to move through a magnetic field generated by the current signal. The magnetic control method of the capsule robot provided by the embodiment of the invention has the advantages of convenience in control, high control precision, various control types and the like.
Description
Technical Field
The invention relates to the technical field of capsule robots, in particular to a magnetic control method of a capsule robot.
Background
With the continuous development of medical technology, the capsule robot is widely applied, after being sent into a body, the capsule robot is controlled by a magnetic control system to move, so that the robot moves in the body, a miniature camera unit carried by the robot can shoot cavity images and transmit the cavity images to an external receiving device, and a worker can observe, process and diagnose medical images on the receiving device.
However, in the related art, the magnetic control technology of the capsule robot cannot realize one-key control of the motion form, and the current of each coil needs to be adjusted respectively when the motion form is switched each time, so that the control is complicated, the control precision is low, and the control type is single.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a magnetic control method for a capsule robot, which has the advantages of convenient control, high control precision, various control types, etc.
According to an embodiment of the present invention, a magnetic control method of a capsule robot is provided, the magnetic control method of the capsule robot including: generating a control signal; converting the control signal to an analog voltage signal; outputting a current signal after performing power amplification on the analog voltage signal; and controlling the capsule robot to move through a magnetic field generated by the current signal.
The magnetic control method of the capsule robot provided by the embodiment of the invention has the advantages of convenience in control, high control precision, various control types and the like.
According to some embodiments of the invention, the control signal comprises at least one of a jog motion, a linear continuous motion, a tilt motion, a float motion, a lock motion and an axis alignment motion of the capsule robot.
Further, the minimum step of the inching motion is 0.74mm-0.94 mm.
According to some specific examples of the invention, the linear continuous motion has a plurality of selectable speeds.
According to some specific examples of the invention, the control signal further comprises an opening and closing of a function of the capsule robot.
Further, the opening and closing of the function of the capsule robot includes the opening and closing of the scanning function.
Further, the tilting motion is performed in combination with the scanning function and comprises: the capsule robot scans in eight directions of forward, backward, leftward, rightward, forward left 45 degrees, forward right 45 degrees, backward left 45 degrees and backward right 45 degrees in a horizontal plane; the included angle between the axis of the capsule robot and the vertical shaft is adjustable.
According to some embodiments of the invention, the control signal is generated according to an input control instruction.
Further, the control instruction is input through a virtual button or a somatosensory.
According to some embodiments of the invention, the current signal generates a magnetic field by inputting a plurality of coils, and the capsule robot displays a current waveform of each of the plurality of coils in real time while moving.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a magnetron system of a capsule robot according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a frame of a magnetron platform of a magnetron system of a capsule robot according to an embodiment of the present invention.
Fig. 3 is a flowchart of a magnetically controlling method of a capsule robot according to an embodiment of the present invention.
Reference numerals:
a magnetic control system 1 of the capsule robot,
A computer 10,
A data collector 20,
A drive plate 30, an upper drive plate 31, a lower drive plate 32, a left drive plate 33, a right drive plate 34, a front drive plate 35, a rear drive plate 36,
A magnetic control platform 40,
A frame 100, a magnetic control space 101, an upper support plate 110, a slide rail 111, a lower support plate 120, an upper coil frame 130, a lower coil frame 140, a left coil frame 150, a right coil frame 160, a front coil frame 170, a pulley 171, a lower coil frame 120, a left coil frame 150, a right coil frame 160, a lower coil frame 170, a left coil frame,
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more.
A magnetron system 1 of a capsule robot according to an embodiment of the present invention is described below with reference to the drawings.
As shown in fig. 1 and 2, a magnetic control system 1 of a capsule robot according to an embodiment of the present invention includes a computer 10, a data collector 20, a drive plate 30, and a magnetic control platform 40.
The computer 10 is configured to issue control signals. The data collector 20 is connected to the computer 10, and the data collector 20 is configured to convert the control signal into an analog voltage signal through D/a conversion. The driving board 30 is connected to the data collector 20, and the driving board 30 is configured to output a current signal after performing power amplification on the analog voltage signal, for example, the driving board 30 is a dc brush motor driver. A magnetically controlled platform 40 is connected to the drive plate 30, the magnetically controlled platform 40 being configured to control the capsule robot (not shown) to move by the magnetic field generated by the current signal.
According to the magnetic control system 1 of the capsule robot provided by the embodiment of the invention, by arranging the computer 10, the computer 10 can be used for sending a control signal, the control signal can comprise a series of continuous motions of the capsule robot, and further arranging the data collector 20 and the drive plate 30, finally, a required current signal is transmitted to the magnetic control platform 40, a magnetic field is generated to control the motions of the capsule robot, and therefore, one-key control of the motion forms can be realized without respectively adjusting the current of each coil of the magnetic control platform when the motion forms are switched each time.
Therefore, the magnetic control system 1 of the capsule robot according to the embodiment of the invention has the advantages of convenient control, high control precision, various control types and the like.
In some embodiments of the present invention, as shown in fig. 1 and 2, the magnetron platform 40 includes a frame 100, an upper coil 210, a lower coil 220, a left coil 230, a right coil 240, a front coil 250, and a rear coil (not shown).
The frame 100 is configured with a magnetically controlled space 101, the magnetically controlled space 101 being adapted to accommodate the capsule robot therein. The upper coil 210 is arranged on the rack 100 and located above the magnetron space 101, the lower coil 220 is arranged on the rack 100 and located below the magnetron space 101, and the upper coil 210 and the lower coil 220 are coaxially arranged. The left coil 230 is arranged on the rack 100 and located on the left side of the magnetic control space 101, the right coil 240 is arranged on the rack 100 and located on the right side of the magnetic control space 101, and the left coil 230 and the right coil 240 are coaxially arranged. The front coil 250 is arranged on the rack 100 and located in front of the magnetic control space 101, the rear coil is arranged on the rack 100 and located behind the magnetic control space 101, and the front coil 250 and the rear coil are coaxially arranged.
The upper coil 210, the lower coil 220, the left coil 230, the right coil 240, the front coil 250, and the rear coil are respectively located at six faces of a regular hexahedron surrounding the magnetron space 101, whereby the minimum stepping distance of the capsule robot is smaller, and the control accuracy of the capsule robot can be improved.
In some specific examples of the present invention, as shown in fig. 1, the number of driving plates 30 corresponds to the number of coils, and includes an upper driving plate 31, a lower driving plate 32, a left driving plate 33, a right driving plate 34, a front driving plate 35, and a rear driving plate 36.
The upper driving plate 31 is connected to the upper coil 210, and the lower driving plate 32 is connected to the lower coil 220. The left drive plate 33 is connected to the left coil 230 and the right drive plate 34 is connected to the right coil 240. The front drive plate 35 is connected to the front coil 250 and the rear drive plate 36 is connected to the rear coil.
The data collector 20 is provided with an upper channel, a lower channel, a left channel, a right channel, a front channel and a rear channel, an upper drive plate 31 is connected with the upper channel, a lower drive plate 32 is connected with the lower channel, a left drive plate 33 is connected with the left channel, a right drive plate 34 is connected with the right channel, a front drive plate 35 is connected with the front channel, and a rear drive plate 36 is connected with the rear channel.
Therefore, the data collector 20 has six channels, which are respectively connected with six driving plates 30, the six driving plates 30 are respectively connected with the upper coil 210, the lower coil 220, the left coil 230, the right coil 240, the front coil 250 and the rear coil, and the upper coil 210, the lower coil 220, the left coil 230, the right coil 240, the front coil 250 and the rear coil form a parallel relation, so that the control can be respectively and independently controlled, and the control precision of the capsule robot is further improved.
In some embodiments of the present invention, the distance between the front coil 250 and the rear coil is adjustable, and the distance between the front coil 250 and the rear coil is adjustable due to the coil having the peak value of the power-on, so that the adjustable range of the magnetic field intensity can be increased, and the capsule robot can move more smoothly and operate in more various forms.
In some embodiments of the present invention, as shown in fig. 1 and 2, the rack 100 includes an upper support plate 110, a lower support plate 120, an upper bobbin 130, a lower bobbin 140, a left bobbin 150, a right bobbin 160, a front bobbin 170, and a rear bobbin (not shown).
The lower support plate 120 is located below the upper support plate 110, and the lower support plate 120 and the upper support plate 110 are spaced apart in the up-down direction. The upper coil frame 130 is mounted on the upper surface of the upper support plate 110, the upper coil 210 is wound on the upper coil frame 130, the lower coil frame 140 is mounted on the lower surface of the lower support plate 120, and the lower coil 220 is wound on the lower coil frame 140. The left bobbin 150 is installed between the upper support plate 110 and the lower support plate 120, the left coil 230 is wound around the left bobbin 150, the right bobbin 160 is installed between the upper support plate 110 and the upper bobbin 130, and the right coil 240 is wound around the right bobbin 160. The front bobbin 170 and the rear bobbin are disposed on a lower surface of the upper support plate 110, at least one of the front bobbin 170 and the rear bobbin is movable in a front-rear direction on the upper support plate 110, the front coil 250 is wound around the front bobbin 170, and the rear coil is wound around the rear bobbin. Accordingly, the upper bobbin 130, the lower bobbin 140, the left bobbin 150, the right bobbin 160, the front bobbin 170, and the rear bobbin can be fixed by the upper support plate 110 and the lower support plate 120, so that the respective coils are positioned on six faces of a regular hexahedron surrounding the magnetron space 101, and the center distance between the front coil 250 and the rear coil can be adjusted.
For convenience of observation, the upper support plate 110 and the lower support plate 120 are both transparent plates, for example, the upper support plate 110 and the lower support plate 120 may be acrylic plates and are manufactured by 3D printing.
In some specific examples of the present invention, as shown in fig. 1 and 2, the lower surface of the upper support plate 110 is provided with a slide rail 111 extending in the front-rear direction, at least one of the front bobbin 170 and the rear bobbin is provided with a pulley 171 slidable along the slide rail 111, and at least one of the front bobbin 170 and the rear bobbin is movably mounted to the upper support plate 110 in the front-rear direction by providing the slide rail 111 and the pulley 171.
Further, in order to improve the stability of the movement of the front bobbin 170 and the rear bobbin, a plurality of sliding rails 111 are provided between the left bobbin 150 and the right bobbin 160, and the plurality of sliding rails 111 are spaced apart in the left-right direction, and the plurality of pulleys 171 on a single bobbin are fitted to the plurality of sliding rails 111 in a one-to-one correspondence. The drawing shows an example in which the slide rail 111 and the pulley 171 are two, respectively, and the two pulleys 171 are provided to the front coil frame 170.
In order to further improve the control accuracy of the capsule robot, in some embodiments of the present invention, the parameters of each coil are further set as follows:
the inner ring circumference of the upper coil 210 and the inner ring circumference of the lower coil 220 are equal and 110mm to 150mm, the outer ring circumference of the upper coil 210 and the outer ring circumference of the lower coil 220 are equal and 135mm to 175mm, the middle ring circumference of the upper coil 210 and the middle ring circumference of the lower coil 220 are equal and 122.5mm to 162.5mm, and the center distance between the upper coil 210 and the lower coil 220 is 270mm to 330 mm. Preferably, the inner ring circumference of the upper coil 210 and the inner ring circumference of the lower coil 220 are equal and 130mm, the outer ring circumference of the upper coil 210 and the outer ring circumference of the lower coil 220 are equal and 155mm, the middle ring circumference of the upper coil 210 and the middle ring circumference of the lower coil 220 are equal and 142.5mm, and the center-to-center distance between the upper coil 210 and the lower coil 220 is 300 mm.
The inner ring circumference of the left coil 230 and the inner ring circumference of the right coil 240 are equal and are 110mm-150mm, the outer ring circumference of the left coil 230 and the outer ring circumference of the right coil 240 are equal and are 140mm-180mm, the middle ring circumference of the left coil 230 and the middle ring circumference of the right coil 240 are equal and are 125mm-165mm, and the center distance between the left coil 230 and the right coil 240 is 270mm-330 mm. Preferably, the inner circumference of the left coil 230 and the inner circumference of the right coil 240 are equal and 130mm, the outer circumference of the left coil 230 and the outer circumference of the right coil 240 are equal and 160mm, the middle circumference of the left coil 230 and the middle circumference of the right coil 240 are equal and 145mm, and the center-to-center distance between the left coil 230 and the right coil 240 is 300 mm.
The circumference of the inner ring of the front coil 250 is equal to the circumference of the inner ring of the rear coil and is 90mm-130mm, the circumference of the outer ring of the front coil 250 is equal to the circumference of the outer ring of the rear coil and is 130mm-170mm, the circumference of the middle ring of the front coil 250 is equal to the circumference of the middle ring of the rear coil and is 110mm-150mm, and the center distance between the front coil 250 and the rear coil is 60mm-290 mm. Preferably, the inner ring circumference of the front coil 250 and the inner ring circumference of the rear coil are equal and 110mm, the outer ring circumference of the front coil 250 and the outer ring circumference of the rear coil are equal and 150mm, the middle ring circumference of the front coil 250 and the middle ring circumference of the rear coil are equal and 130mm, the center distance between the front coil 250 and the rear coil is 90mm to 260mm, and the center distance between the front coil 250 and the rear coil can be adjusted by moving the front coil 250 and the rear coil.
As will be understood by those skilled in the art, the inner ring perimeter of a coil refers to the perimeter of the inner circumference of the cross-section of the coil; the outer ring circumference of the coil means the circumference of the outer periphery of the cross section of the coil; the middle ring circumference of the coil means a circumference of a ring located at the center between the outer circumference and the inner circumference in the radial direction in the cross section of the coil.
In some specific examples of the present invention, the number of turns of the upper coil 210 and the lower coil 220 is equal to 750-. Preferably, the number of turns of the upper coil 210 and the lower coil 220 is equal and 800, and the resistances of the upper coil 210 and the lower coil 220 are equal and 12.5 Ω.
The number of turns of the left coil 230 and the right coil 240 is equal to 750-. Preferably, the number of turns of the left coil 230 and the right coil 240 is equal to 800, and the resistance of the left coil 230 is equal to the resistance of the right coil 240 and is 14 Ω.
The front coil 250 and the rear coil have the same number of turns and are 950-1050, and the resistance of the front coil 250 and the resistance of the rear coil are equal and are 11-14 Ω. Preferably, the front coil 250 and the rear coil have the same number of turns and are 1000, and the resistance of the front coil 250 and the resistance of the rear coil are equal and are 12 Ω -13 Ω.
The upper coil 210, the lower coil 220, the left coil 230, the right coil 240, the front coil 250 and the rear coil are all formed by winding copper wires with the diameter of 0.75mm-0.95 mm.
It will be understood by those skilled in the art that in practical applications, for two coaxial coils, the winding methods of the two coils may be different (hand winding and machine winding), which may result in different density, resulting in different total lengths of the coils with the same number of turns, and thus different resistance values, and this difference can be compensated by the current difference.
A magnetron method of a capsule robot according to an embodiment of the present invention is described below with reference to the accompanying drawings.
As shown in fig. 3, a method for magnetically controlling a capsule robot according to an embodiment of the present invention includes:
generating a control signal;
converting the control signal into an analog voltage signal by D/A conversion;
outputting a current signal after performing power amplification on the analog voltage signal;
and controlling the capsule robot to move through a magnetic field generated by the current signal.
According to the magnetic control method of the capsule robot, the control signal can comprise a series of continuous motions of the capsule robot by sending the control signal, the control signal is further converted and power-amplified, the required current signal is finally output, a magnetic field is generated to control the motions of the capsule robot, and therefore one-key control of the motion forms can be achieved without respectively adjusting the current of each coil of the magnetic control platform when the motion forms are switched each time.
Therefore, the magnetic control method of the capsule robot has the advantages of convenience in control, high control precision, various control types and the like.
In some embodiments of the invention, the control signal comprises at least one of a jog motion, a linear continuous motion, a tilt motion, a float motion, a lock motion, and an axis alignment motion of the capsule robot.
Wherein the minimum step of the inching motion is 0.74mm-0.94mm, such as 0.84mm, so as to improve the control precision;
the linear continuous motion has various selectable speeds, such as slow-minimum step inching motion, medium-large step inching motion and fast-fast continuous motion;
the locking motion fixes the capsule robot at any position;
the axis alignment movement is that the axis of the capsule robot is aligned in the front-rear direction and the axis of the capsule robot is aligned in the left-right direction.
In some specific examples of the invention, the control signal further comprises an opening and closing of a function of the capsule robot, e.g. an opening and closing of a scanning function.
Further, the tilting motion is performed in combination with the scanning function and comprises:
the capsule robot scans in eight directions of forward, backward, leftward, rightward, forward left 45 degrees, forward right 45 degrees, backward left 45 degrees and backward right 45 degrees in a horizontal plane;
the included angle between the axis of the capsule robot and the vertical shaft is adjustable.
In some embodiments of the present invention, the control signal is generated according to an input control command, and in particular, the control command is input through a virtual button or a motion sensing.
For example, the somatosensory control capsule robot is continuously moved left and right and front and back as a peripheral device through a gyroscope chip, and particularly, the gyroscope chip is held by a hand: the chip is inclined forwards, and the capsule robot moves forwards; tilting the chip left, the capsule robot moving left; tilting the chip right, the capsule robot moving right; the chip is tilted backwards and the capsule robot moves backwards.
In order to avoid the operation error of the somatosensory motion, a delay time can be set.
In some specific examples of the present invention, the current signal generates a magnetic field by inputting a plurality of coils, and a current waveform of each of the plurality of coils is displayed in real time while the capsule robot is moving, so that a fault can be timely found and eliminated according to the displayed current waveform.
In the description herein, references to the description of "a particular embodiment," "a particular example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A magnetic control method of a capsule robot is characterized by comprising the following steps:
generating a control signal;
converting the control signal to an analog voltage signal;
outputting a current signal after performing power amplification on the analog voltage signal;
and controlling the capsule robot to move through a magnetic field generated by the current signal.
2. The method of claim 1, wherein the control signal comprises at least one of a jog motion, a linear continuous motion, a tilt motion, a float motion, a lock motion, and an axis alignment motion of the capsule robot.
3. The method of claim 2, wherein the minimum step of the inching motion is 0.74mm-0.94 mm.
4. The magnetron method of claim 2, wherein the linear continuous motion has a plurality of selectable speeds.
5. The method of claim 2, wherein the control signal further comprises an opening and closing of a function of the capsule robot.
6. The method of claim 5, wherein the opening and closing of the capsule robot function comprises opening and closing of a scanning function.
7. The method of claim 6, wherein the tilting motion is performed in conjunction with the scanning function and comprises:
the capsule robot scans in eight directions of forward, backward, leftward, rightward, forward left 45 degrees, forward right 45 degrees, backward left 45 degrees and backward right 45 degrees in a horizontal plane;
the included angle between the axis of the capsule robot and the vertical shaft is adjustable.
8. The magnetic control method according to any one of claims 1 to 7, wherein the control signal is generated in accordance with an input control command.
9. The magnetic control method according to claim 8, wherein the control command is input through a virtual button or a somatosensory button.
10. The magnetic control method according to any one of claims 1 to 7, wherein the current signal is generated by inputting a plurality of coils to generate a magnetic field, and the capsule robot displays a current waveform of each of the plurality of coils in real time while moving.
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| CN201910675073.3A CN112294240A (en) | 2019-07-25 | 2019-07-25 | Magnetic control method of capsule robot |
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| CN201910675073.3A CN112294240A (en) | 2019-07-25 | 2019-07-25 | Magnetic control method of capsule robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113433043A (en) * | 2021-06-25 | 2021-09-24 | 杭州电子科技大学 | Four solenoid magnetic control formula magnetic droplet testing arrangement |
| 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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