Method for driving and controlling universal rotary magnetic field of the medical treatment miniature robot in the body

Abstract

The invention pertains to the technical field of medical engineering and discloses a method for driving and controlling a universally rotating magnetic field of a medical micro-robot in a human body. The method is characterized in that three groups of Helmholtz coils on z, y and x axes are arranged by orthogonal nesting so as to ensure that respective combined inductance is equal and the amplitude of intensity of magnetization of a harmonic magnetic field generated respectively is equal when the three groups of coils are driven by the same harmonic current. The relevant amplitude of an axis azimuth angle of the robot and a same frequency sine harmonic driving current of a phase are overlapped to form a spatial universally and evenly revolving magnetic field corresponding to the revolving axis of the azimuth angle in a certain space surrounded by the orthogonal Helmholtz coils on the three axes. The self-rotating direction of the universally rotating magnetic field can be changed by changing the current frequency to adjust the revolution of the magnetic field and changing the orthogonal Helmholtz coils on the three axes to drive the current direction. The method of the invention has the beneficial effects that the method is applicable to a bending inner environment of the human body and can realize a plurality of functions of rotation, going forward and backward and speed adjusting, etc., of the robot in the human body, and the positioning operation in the human body.

Description

technical field [0001] The invention belongs to the technical field of medical engineering, and relates to a sinusoidal harmonic drive current of the same frequency with the relative amplitude and phase of the robot axis azimuth as the input variable respectively applied to a three-axis orthogonally nested Helmholtz coil device, In a certain space surrounded by three-axis mutually orthogonally nested Helmholtz coil devices, a universal rotating magnetic field whose rotation axis is consistent with the axis of the robot is superimposed to form a universal rotating magnetic field. By changing the azimuth angle, the embedded radial magnetization of NdFeB can be realized. The basic method of magnet helical screw-in medical micro-robot driving along any direction in the body. Background technique [0002] The operating environment of medical micro-robots in the body is the intestinal tract, urinary system, blood vessels, etc. in the body. The tubular flexible and elastic wall env...

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