CN113116278A - Magnetic coupling control device, system and method of capsule robot - Google Patents
Magnetic coupling control device, system and method of capsule robot Download PDFInfo
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- CN113116278A CN113116278A CN202110425112.1A CN202110425112A CN113116278A CN 113116278 A CN113116278 A CN 113116278A CN 202110425112 A CN202110425112 A CN 202110425112A CN 113116278 A CN113116278 A CN 113116278A
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- 239000002775 capsule Substances 0.000 title claims abstract description 107
- 230000008878 coupling Effects 0.000 title claims abstract description 46
- 238000010168 coupling process Methods 0.000 title claims abstract description 46
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000009471 action Effects 0.000 claims abstract description 7
- 239000007788 liquid Substances 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims description 8
- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 238000010146 3D printing Methods 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229940008099 dimethicone Drugs 0.000 claims 1
- 235000013870 dimethyl polysiloxane Nutrition 0.000 claims 1
- 239000004205 dimethyl polysiloxane Substances 0.000 claims 1
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims 1
- 210000001035 gastrointestinal tract Anatomy 0.000 abstract description 14
- 230000002496 gastric effect Effects 0.000 abstract description 5
- 230000033228 biological regulation Effects 0.000 description 5
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 3
- 229920002545 silicone oil Polymers 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 125000000118 dimethyl group Chemical group [H]C([H])([H])* 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 210000002429 large intestine Anatomy 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000000813 small intestine Anatomy 0.000 description 1
- 210000002784 stomach Anatomy 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
- A61B1/04—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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Radiology & Medical Imaging (AREA)
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention relates to the technical field of automation engineering, in particular to a magnetic coupling control device, a magnetic coupling control system and a magnetic coupling control method for a capsule robot, wherein the magnetic coupling control device comprises the following steps: the motor, the two main permanent magnets and the controller; the two main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller; the motor drives the two main permanent magnets to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the inner auxiliary permanent magnets of the capsule robot under the action of the rotating magnetic field, the capsule robot and the outer rotating magnetic field rotate synchronously, and the capsule robot rotates in a pipeline filled with viscous liquid to move forwards and backwards. The capsule robot can be flexibly, simply and conveniently controlled to freely move in the intestinal tract of a human body. The main permanent magnets with different magnetic energy products can be replaced according to actual needs, the control is flexible and convenient, the cost is low, and the device is suitable for the examination work of the gastrointestinal and digestive tracts.
Description
Technical Field
The invention relates to the technical field of automation engineering, in particular to a magnetic coupling control device, system and method of a capsule robot.
Background
As a noninvasive and painless diagnosis and treatment tool in the gastrointestinal tract of a human body, the wireless capsule robot can effectively improve the comfort of examination and the tolerance of a patient, and enables the examination in blind areas such as the gastrointestinal tract in the human body to be possible. The passive capsule robot is primarily used for small intestine internal examination, and is gradually applied to the stomach, large intestine and other parts. However, the passive capsule robot is mainly characterized by uncontrollable movement and only depends on gastrointestinal peristalsis, and retention hazards can occur when encountering narrow and wrinkled intestinal tubes. The capsule robot driven by the external magnetic field can completely avoid the problems, has the advantages of simple magnetic field regulation, good continuous motility, simple and convenient control and the like, and is most importantly not restricted by the inner space of the robot, highly miniaturized and convenient for clinical application.
Currently, external magnetic field driving systems can be divided into solenoid driving systems and permanent magnet driving systems. The electromagnetic coil driving system generates magnetic torque by a current input coil and has the characteristic that the magnetic field intensity and the frequency are continuously controllable. However, the clinically applied electromagnetic coil driving system requires a bulky coil to cover the human body, which is expensive in cost, and requires a doctor to master a complicated calculation and control method during operation, which is difficult. The permanent magnet driving system adopts a permanent magnet or an electromagnet arranged at the tail end of the mechanical arm to form a coupling magnetic torque with the embedded permanent magnet of the capsule robot so as to realize the direction, position and rotating speed control of the robot. However, due to the inherent characteristics of the mechanical arm, if the mechanical arm encounters a singular point during the movement process, the mechanical arm may generate a malfunction, which affects the accurate driving control of the capsule robot. Moreover, the use of a robot arm also has the problem of high cost.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a magnetic coupling control device, system and method for a capsule robot, which can reduce the cost of driving the capsule robot by an external magnetic field, and can flexibly and simply control the capsule robot to freely move in the intestinal tract of a human body.
The purpose of the invention is realized by the following technical scheme:
in one aspect, the present invention provides a magnetic coupling control apparatus for a capsule robot, including: the motor, the two main permanent magnets and the controller; the two main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller;
the motor drives the two long main permanent magnets to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the auxiliary permanent magnets inside the capsule robot under the action of the rotating magnetic field, the capsule robot and the external rotating magnetic field rotate synchronously and rotate in a pipeline filled with viscous liquid to move forwards and backwards;
the capsule robot is driven by the speed regulation function of the motor, so that the capsule robot can continuously regulate the speed in a stepping way and carry out more accurate driving control.
Further, the controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob and a seven-segment digital tube display circuit, and the controller performs speed regulation control on the motor through a C language program.
Furthermore, the two main permanent magnets are magnetized in the thickness direction, and the sections of the main permanent magnets are square or rectangular.
Further, the motor is a direct current motor or a stepping motor or a servo motor, and an output shaft of the motor is fixed with the coupler through a fastening bolt.
Further, the inner part of the pipeline for advancing the capsule robot is filled with medical dimethyl silicone oil.
Further, controller and motor all install in handheld shell, adopt 3D to print manufacturing, charactron and main permanent magnet and shaft coupling are outside handheld shell.
Further, the motor supplies power for a wired or wireless lithium battery.
In another aspect, the present invention provides a magnetic coupling system of a capsule robot, including: the capsule robot comprises a magnetic coupling control device and a capsule robot, wherein the magnetic coupling control device is any one of the magnetic coupling control devices.
Further, the capsule robot is manufactured by 3D printing, the outer part of the capsule robot is a spiral surface, the inner part of the capsule robot is cylindrical or annular from the permanent magnet, and the capsule robot is magnetized in the radial direction from the magnetizing direction of the permanent magnet.
In still another aspect, the present invention provides a magnetic coupling control method of a capsule robot, including the steps of:
step S1: a forward rotation key is pressed down in the controller through a control panel, and the motor starts to rotate; at the moment, the capsule robot in the pipeline can also rotate along with the rotating magnetic field generated by the motor; at the moment, the nixie tube displays that the motor rotates forwards and rotates at a speed; at the moment, the capsule robot is guided to advance towards the target direction of the pipeline by the handheld controller;
step S2: when a stop key is pressed on the control panel, the motor stops moving, the capsule robot in the pipeline also stops moving, and the nixie tube keeps the previous data state and cannot change;
step S3: when the knob is adjusted in the positive rotation speed, the speed of the motor is increased, the capsule robot in the pipeline also accelerates to rotate, the number indicated by the nixie tube is increased along with the rotation speed, and the rotation speed of the motor is not increased after the maximum protection limit rotation speed value is reached;
step S4: when the speed adjusting knob is rotated in the opposite direction, the speed of the motor is reduced, meanwhile, the capsule robot in the pipeline also decelerates to rotate, the numerical value displayed by the nixie tube is gradually reduced, the nixie tube continuously rotates along with the speed adjusting knob, and the speed of the motor is not changed after the numerical value reaches 0 position;
step S5: when a reverse key is pressed on the control panel, the rotating direction of the motor is opposite to the forward rotation, the capsule robot in the pipeline also rotates in the reverse direction, and the rotating speed value displayed by the nixie tube is the reverse rotating speed;
step S6: when the forward rotation key on the control panel is pressed again, the motor is reversed again; the capsule robot in the pipeline continues to change the rotation direction, and meanwhile, the nixie tube displays the forward rotation speed value.
The invention relates to a magnetic coupling control device, a magnetic coupling control system and a magnetic coupling control method of a capsule robot.A motor drives two long main permanent magnets to rotate and overlap under the control of a controller to form a rotating magnetic field, non-contact magnetic acting force is generated from the permanent magnets inside the capsule robot under the action of the rotating magnetic field, the capsule robot and the external rotating magnetic field rotate synchronously and rotate forwards in a pipeline filled with viscous liquid to realize forward and backward movement.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic view of a magnetic coupling system of the capsule robot of the present invention;
FIG. 2 is a schematic view of a capsule robot of the present invention;
FIG. 3 is a block diagram of the steps of the magnetic coupling control method of the capsule robot of the present invention;
wherein the reference numerals are: 1-main permanent magnet, 2-coupler, 3-output shaft, 4-motor, 5-control panel, 6-lithium battery, 7-wire, 8-rubber plug, 9-acrylic tube, 10-dimethyl silicone oil, 11-capsule robot, 12-bracket, 13-auxiliary permanent magnet and 14-hand-held shell.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
As shown in fig. 1-2, a magnetic coupling control device of a capsule robot according to an embodiment of the present invention includes a motor 4, two main permanent magnets 1, and a controller; the two main permanent magnets 1 are arranged on an output shaft 3 of a motor 4, and the motor 4 is controlled by a controller;
the motor 4 drives the two main permanent magnets 1 which are preferably in a strip shape to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the permanent magnets 13 in the capsule robot 11 under the action of the rotating magnetic field, the capsule robot 11 and the external rotating magnetic field rotate synchronously and advance in a pipeline filled with viscous liquid in a rotating mode, and advancing and retreating movement is achieved;
the capsule robot 11 is driven by the speed regulation function of the motor 4, so that the capsule robot 11 can continuously regulate the speed in a stepping way and perform more accurate driving control.
According to the magnetic coupling control device of the capsule robot, the motor 4 drives the two long main permanent magnets 1 to rotate and overlap under the control of the controller to form a rotating magnetic field, a non-contact magnetic acting force is generated on the permanent magnet 13 inside the capsule robot 11 under the action of the rotating magnetic field, the capsule robot 11 and the external rotating magnetic field rotate synchronously and rotate forwards in a pipeline filled with viscous liquid to realize forward and backward movement, the cost of driving the capsule robot 11 by an external magnetic field can be reduced, the capsule robot 11 can be flexibly and simply controlled to freely move in the intestinal tract of a human body, the main permanent magnets 1 with different magnetic energy products can be replaced according to actual needs, the control is flexible and convenient, the cost is low, and the magnetic coupling control device is suitable for the examination work of the gastrointestinal digestive tract.
The controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob and a seven-segment digital tube display circuit, and the controller performs speed regulation control on the motor 4 through a C language program.
Wherein, two main permanent magnets 1 are magnetized in the thickness direction, and the section of the main permanent magnet 1 is square or rectangular.
Wherein, motor 4 is DC motor 4 or step motor 4 or servo motor 4, and output shaft 3 of motor 4 passes through fastening bolt with shaft coupling 2 and fixes.
As shown in fig. 1, the inside of a pipeline where a capsule robot 11 moves forward is filled with medical dimethyl silicone oil 10, the pipeline is a pipeline simulating the intestinal tract of a human body and is an acrylic pipe 9, two ends of the acrylic pipe 9 are plugged by rubber plugs 8, and the acrylic pipe 9 is supported by a support 12 at the lower end.
Wherein, controller and motor 4 all install in handheld shell 14, adopt 3D to print the manufacturing, and charactron and main permanent magnet 1 and shaft coupling 2 are outside handheld shell 14, are convenient for observe the rotational speed situation of change and change the main permanent magnet 1 of different magnetic energy products.
Wherein, motor 4 is the power supply of wired or wireless lithium cell 6, can use wired or wireless mode drive capsule robot 11 as required, and lithium cell 6 charges through wire 7.
Example two
As shown in fig. 1 to 2, a magnetic coupling system of a capsule robot according to an embodiment of the present invention includes: a magnetic coupling control device and a capsule robot 11, wherein the magnetic coupling control device is any one of the above magnetic coupling control devices.
In the magnetic coupling system of the capsule robot, the motor 4 drives the two long main permanent magnets 1 to rotate and overlap under the control of the controller to form a rotating magnetic field, a non-contact magnetic acting force is generated from the permanent magnet 13 inside the capsule robot 11 under the action of the rotating magnetic field, the capsule robot 11 and the external rotating magnetic field rotate synchronously and rotate forwards in a pipeline filled with viscous liquid to realize forward and backward movement, the cost of driving the capsule robot 11 by an external magnetic field can be reduced, the capsule robot 11 can be flexibly and simply controlled to freely move in the intestinal tract of a human body, the main permanent magnets 1 with different magnetic energy products can be replaced according to actual needs, the control is flexible and convenient, the cost is low, and the magnetic coupling system is suitable for the examination work of the gastrointestinal digestive tract.
The capsule robot 11 is manufactured by 3D printing, the outer part of the capsule robot is a spiral surface, the inner part of the capsule robot is cylindrical or annular from the permanent magnet 13, and the magnetizing direction of the permanent magnet 13 is radial.
EXAMPLE III
As shown in fig. 3, a magnetic coupling control method for a capsule robot according to an embodiment of the present invention includes the steps of:
step S1: the forward rotation button is pressed in the controller through the control panel 5, and the motor 4 starts to rotate. At this time, the capsule robot 11 in the duct also rotates in accordance with the rotating magnetic field generated by the motor 4. At this time, the nixie tube displays that the motor 4 rotates forwards and rotates at a certain speed. At this time, the controller can be held by hand to guide the capsule robot 11 to move forward towards the target direction of the pipeline, and the speed of the controller and the speed of the capsule robot 11 are kept relatively consistent and should be kept at a certain distance.
Step S2: when a stop key is pressed on the control panel 5, the motor 4 stops moving, the capsule robot 11 in the pipeline also stops moving, and the nixie tube keeps the previous data state and does not change.
Step S3: when positive direction rotational speed adjust knob, motor 4 speed can increase, and capsule robot 11 in the pipeline also can accelerate the rotation thereupon simultaneously, and the charactron registration at this moment also can increase along with the rotational speed, reaches the maximum protection and restricts the rotational speed value after, and motor 4's rotational speed no longer increases.
Step S4: when the speed adjusting knob is rotated in the opposite direction, the speed of the motor 4 is reduced, meanwhile, the capsule robot 11 in the pipeline also decelerates and rotates, the numerical value displayed by the nixie tube is gradually reduced, the nixie tube continuously rotates along with the speed adjusting knob, and after the numerical value reaches 0 position, the speed of the motor 4 is not changed.
Step S5: when the reverse rotation button is pressed on the control panel 5, the rotation direction of the motor 4 is opposite to the forward rotation direction, the capsule robot 11 in the pipeline also rotates in the reverse direction along with the rotation direction, and the rotation speed value displayed by the nixie tube is the reverse rotation speed. Similar to the previous operation, the controller can be held by hand to guide the capsule robot 11 to advance to the opposite target direction of the pipeline, and the speed of the controller and the speed of the capsule robot 11 are kept relatively consistent and should be kept at a certain distance.
Step S6: when the forward rotation key on the control panel 5 is pressed again, the motor 4 is reversed again; the capsule robot 11 in the pipe continues to change the rotation direction, and at the same time, the nixie tube displays the forward rotation speed value.
The technical scheme of the invention is simple and convenient to use, can drive and control the capsule robot 11 from different angles, overcomes the singularity of a mechanical arm, avoids the high magnetic field radiation and large power consumption of a huge electromagnetic driving coil, effectively saves medical resources, can be used quickly without professional training, and lays a foundation for providing more effective medical services for accurate and quick diagnosis and treatment of the whole digestive tract.
According to the technical scheme, the dynamic rotating magnetic field is generated by the rotation of the external main permanent magnet 1, the capsule robot 11 with the internal auxiliary permanent magnet 13 is driven to rotate together, the rotating speed of the capsule robot 11 can be indirectly changed by changing the rotating speed of the external main permanent magnet 1, the advancing speed of the capsule robot 11 is further changed, the capsule robot 11 can be conveniently controlled to start and stop, and the rotating magnetic field generated by the main permanent magnet 1 is used for guiding the capsule robot 11 to drive in a straight line, a backward direction and a turning direction. The technical scheme of the invention has good practicability, can avoid the problems of singularity of a five-degree-of-freedom or six-degree-of-freedom mechanical arm, the bulkiness and complexity of electromagnetic coil drive and the like, can guide and control the capsule robot 11 through a manual handheld controller, can replace the main permanent magnet 1 with different magnetic energy products according to actual needs, has flexible and convenient control and low cost, and is suitable for the examination work of gastrointestinal and digestive tracts.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A magnetic coupling control device of a capsule robot, comprising: the motor, the two main permanent magnets and the controller; the two main permanent magnets are arranged on an output shaft of the motor, and the motor is controlled by the controller;
the motor drives the two main permanent magnets to rotate and overlap under the control of the controller to form a rotating magnetic field, non-contact magnetic acting force is generated on the auxiliary permanent magnets inside the capsule robot under the action of the rotating magnetic field, the capsule robot and the external rotating magnetic field rotate synchronously and rotate in a pipeline filled with viscous liquid to move forwards and backwards.
2. A magnetic coupling control device for a capsule robot as claimed in claim 1, wherein the controller comprises a single chip microcomputer, a motor driver, a motor controller, a forward and reverse rotation key, a stop key, a speed adjusting knob, and a seven-segment nixie tube display circuit, and the controller controls the speed of the motor by a C language program.
3. A magnetic coupling control device for a capsule robot according to claim 1, wherein the two main permanent magnets are magnetized in a thickness direction, and the cross section of the main permanent magnet is square or rectangular.
4. A magnetic coupling control device of a capsule robot according to claim 1, wherein the motor is a dc motor or a stepping motor or a servo motor, and an output shaft of the motor and a coupling are fixed by a fastening bolt.
5. A magnetic coupling control device for a capsule robot according to claim 1, wherein the inside of a tube through which the capsule robot advances is filled with medical dimethicone.
6. A magnetic coupling control device of a capsule robot according to claim 1, wherein the controller and the motor are both mounted in a hand held housing, manufactured by 3D printing, with a nixie tube and the main permanent magnet and coupling outside the hand held housing.
7. A magnetic coupling control device of a capsule robot according to claim 1, wherein the motor is powered by a wired or wireless lithium battery.
8. A magnetic coupling system of a capsule robot, comprising a magnetic coupling control device according to any one of claims 1 to 7 and the capsule robot.
9. A magnetic coupling system for a capsule robot according to claim 8, wherein the capsule robot is manufactured by 3D printing, the outer portion is a spiral surface, the inner portion is cylindrical or annular, and the magnetizing direction of the slave permanent magnet is radial.
10. A magnetic coupling control method of a capsule robot is characterized by comprising the following steps:
step S1: a forward rotation key is pressed down in the controller through a control panel, and the motor starts to rotate; at the moment, the capsule robot in the pipeline can also rotate along with the rotating magnetic field generated by the motor; at the moment, the nixie tube displays that the motor rotates forwards and rotates at a speed; at the moment, the capsule robot is guided to advance towards the target direction of the pipeline by the handheld controller;
step S2: when a stop key is pressed on the control panel, the motor stops moving, the capsule robot in the pipeline also stops moving, and the nixie tube keeps the previous data state and cannot change;
step S3: when the knob is adjusted in the positive rotation speed, the speed of the motor is increased, the capsule robot in the pipeline also accelerates to rotate, the number indicated by the nixie tube is increased along with the rotation speed, and the rotation speed of the motor is not increased after the maximum protection limit rotation speed value is reached;
step S4: when the speed adjusting knob is rotated in the opposite direction, the speed of the motor is reduced, meanwhile, the capsule robot in the pipeline also decelerates to rotate, the numerical value displayed by the nixie tube is gradually reduced, the nixie tube continuously rotates along with the speed adjusting knob, and the speed of the motor is not changed after the numerical value reaches 0 position;
step S5: when a reverse key is pressed on the control panel, the rotating direction of the motor is opposite to the forward rotation, the capsule robot in the pipeline also rotates in the reverse direction, and the rotating speed value displayed by the nixie tube is the reverse rotating speed;
step S6: when the forward rotation key on the control panel is pressed again, the motor is reversed again; the capsule robot in the pipeline continues to change the rotation direction, and meanwhile, the nixie tube displays the forward rotation speed value.
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| CN202110425112.1A CN113116278A (en) | 2021-04-20 | 2021-04-20 | Magnetic coupling control device, system and method of capsule robot |
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