Magnetic driving control device and method for multi-capsule type medical miniature robot

Abstract

The invention belongs to the technical field of automotive engineering, which relates to a magnetic driving control device and a method used for a multi-capsule medical micro-robot. The invention is characterized in that the control of motion is realized by regulating a clearance between a spiral fin on the external surface of the robot and a flexible pipe wall; by the relation between the rotation speed of the robot rotation magnetic field and a radial expansion clearance, a plurality of robots are designed to have different starting rotation speeds; a rotary magnetic field is generated by the cirques of two magnetic poles and driven in different starting rotation speed sections, thus realizing the adjustment and the relative positioning control of the floating speed of the multi-capsule internal micro-robot. The invention has the advantages of good reliability and practicability of the robot, excellent motion performance, high driving efficiency, large applicable range of pipe diameter and simple and easy control. The invention is applicable to flexible pipe wall environments, can be driven by different starting rotation speed sections under the same magnetic field, and can realize the operation to the motion and positioning of a plurality of robots.

Description

technical field [0001] The invention belongs to the technical field of automation engineering, and relates to a basic method for realizing the drive control of multiple capsule medical micro-robots in a closed flexible elastic pipeline filled with high-viscosity liquid under the same external rotating magnetic field. Background technique [0002] The magnetically controlled cable-free driven micro-robot is closer to the natural state, and has the characteristics of high reliability and safety when working in the human body. With the body fluid in the soft and elastic tissues of the human body as the medium, it can reach deep parts in the body. Therefore, swimming microrobots provide an important operation form for in vivo interventional therapy, and have broad application prospects in the field of medical engineering. [0003] The operating environment of medical micro-robots is the intestinal tract, urinary system, blood vessels, etc. in the body. The environment is charac...

AI Technical Summary

Problems solved by technology

However, the rotating magnetic field generated by the energized coil has a contradiction between the driving frequency and the magnetic field strength. When driving at high frequency, the energy loss is large, the heat is serious, and the magnetic field attenuation is large. Due to insufficient driving torque, the cut-off driving frequency of the capsule robot will be reduced, and the precession will be reduced. The speed is reduced, and even the robot is blocked and unable to walk, which affects the safety and reliability of internal operations.

The rigid structure of the body also has the problem that the radial clearance cannot be compensated, and it cannot adapt to the driving and walking in the complex flexible elastic wall environment.

[0006] To sum up, radial clearance compensation is an effective way to improve the driving and walking of capsule-type medical micro-robots in a flexible and elastic tube wall environment. At present, under the same rotating magnetic field, multi-capsule medical The research on the drive control of micro-robots has not been reported yet

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