Magnetic control energy supply device for gastrointestinal capsule robot

Abstract

A magnetically controlled energy supply device for a gastrointestinal capsule robot comprises: a base and a magnetic field generating mechanism of an annular structure rollingly arranged thereon, wherein: the capsule robot is located in the magnetic field generating mechanism, the outside of the magnetic field generating mechanism is in contact with the base and driven by the base to rotate at high speed, thereby generating a rotating alternating magnetic field with spatial uniformity, and using the principle of electromagnetic induction, a receiving voltage is induced by coupling of a coil integrated in a wireless energy receiving end of the capsule robot, and after rectification and filtering, it can supply energy to the load. The present invention can realize a uniform rotating control magnetic field in a large range, and can also take into account the needs of wireless energy supply at the same time.

Description

Technical Field

[0001] The present invention relates to a technology in the field of medical micro-robots, in particular to a magnetically controlled energy supply device for a gastrointestinal capsule robot. Background Art

[0002] With the development of gastrointestinal diagnosis and treatment technology, the diagnosis and examination of the stomach, large intestine, small intestine, etc. can be achieved through capsule endoscopes. Existing capsule endoscopes are all battery-powered and use passive movement with intestinal peristalsis, so there is a risk of missed diagnosis and misdiagnosis. In order to overcome this technical difficulty, the inspection equipment needs to have active and controllable movement capabilities. The current implementation methods mainly include magnetically controlled capsule robots that interact with permanent magnets inside the robot by applying an external magnetic field and active intestinal robots equipped with micro motors as driving sources and using wireless power supply. During the movement of the capsule robot based on the magnetic control method, in order to facilitate the robot to clearly capture full-angle images of the stomach wall and intestinal wall, it is often necessary to let the robot roll and shoot, especially for magnetic rotary robots that rely on rotating magnetic fields to generate power. A magnetic control device that can generate a uniform rotating magnetic field is very critical. At the same time, in order to meet the needs of wireless power supply, wireless energy transmitting devices are often large in size and cannot be unified. Therefore, it is necessary to simplify and improve the magnetic control device to meet the needs of magnetic control and power supply at the same time. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a magnetically controlled energy supply device for a gastrointestinal capsule robot, which can achieve a uniform rotating control magnetic field in a larger range and can also meet the needs of wireless energy supply.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention relates to a magnetically controlled energy supply device for a gastrointestinal capsule robot, comprising: a base and a magnetic field generating mechanism of an annular structure rollingly arranged thereon, wherein: the capsule robot is located in the magnetic field generating mechanism, the outside of the magnetic field generating mechanism is in contact with the base and is driven by the base to rotate at a high speed, thereby generating a rotating alternating magnetic field with spatial uniformity, and utilizing the principle of electromagnetic induction, a receiving voltage is induced by coupling of a coil integrated in a wireless energy receiving end of the capsule robot, and after rectification and filtering, it can supply energy to a load.

[0006] The base includes: a shell, a reduction motor, an output gear, a driving gear and its transmission shaft, and a plurality of transmission rollers and their roller shafts, wherein: the reduction motor is meshed with the driving gear through the output gear, the driving gear is fixed through the transmission shaft and meshed with the outer periphery of the magnetic field generating mechanism, and the transmission roller is rollingly arranged on the shell through the roller shaft and contacts the outer peripheral surface of the magnetic field generating mechanism.

[0007] The magnetic field generating mechanism comprises: a ring-shaped shell, a magnetic conductive sheet arranged on the inner wall of the shell, a first permanent magnet and a second permanent magnet arranged on the inner ring of the shell relative to each other, and an outer gear ring arranged on the outer ring of the shell, wherein: the outer gear ring is meshed with the driving gear of the base to realize the rotation of the magnetic field generating mechanism; the transmission roller of the shell and the base is in surface contact.

[0008] The first permanent magnet and the second permanent magnet are both made of hard magnetic materials and are placed parallel to each other on the inner ring of the outer shell. The S pole of the first permanent magnet is opposite to the N pole of the second permanent magnet. By adjusting the positions of the first permanent magnet and the second permanent magnet, the direction of the controlled magnetic field can be changed or a rotating magnetic field can be applied.

[0009] The present invention relates to a control method for the above-mentioned magnetically controlled energy supply device, wherein a magnetic field generating mechanism is driven by a base to perform mechanical rolling, and a magnetic field with controllable direction and uniformity is applied to the area between the first permanent magnet and the second permanent magnet, so as to achieve traction and guidance of the magnetically controlled capsule robot, wherein: the direction of the magnetic field is controlled by a reduction motor through an output gear, a driving gear and a transmission roller, and the uniformity of the magnetic field is controlled by a closed magnetic circuit formed by a magnetic conductive sheet and the relative areas of the first permanent magnet and the second permanent magnet; a coil integrated in a wireless energy receiving end inside the capsule robot couples and induces a receiving voltage using the principle of electromagnetic induction, and supplies energy to the load after rectification and filtering.

[0010] Technical Effects

[0011] The present invention constructs a closed circular magnetic circuit through a high-permeability magnetic sheet and matches it with a pair of permanent magnet plates with a larger area to ensure a uniform magnetic field over a larger range. At the same time, the rotating structure can better meet the working environment of the capsule robot, can accommodate the patient's body to enter, and is used for magnetic control and power supply of the capsule robot. Compared with the prior art, the present invention can simultaneously achieve a larger range of uniform rotating control magnetic field and wireless power supply needs. The realization of the circularly laid magnetic sheet and the closed magnetic circuit increases the magnetic field in the central area. This structure is well suited for the use scenarios of the capsule robot, and the movement of the mechanism will not interfere with the patient's body. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the present invention;

[0013] Figure 2 It is a schematic diagram of the transmission part of the present invention;

[0014] Figure 3 It is a schematic diagram of magnetic flux line simulation of the present invention;

[0015] Figure 4 This is the magnetic induction intensity distribution diagram of the central axis of the present invention. DETAILED DESCRIPTION

[0016] like Figure 1 and Figure 2 As shown, this embodiment relates to a magnetically controlled energy supply device for a gastrointestinal capsule robot, including: a base 1 and a magnetic field generating mechanism 2 of an annular structure rollingly arranged thereon, wherein: the capsule robot is located in the magnetic field generating mechanism 2, the outside of the magnetic field generating mechanism 2 is in contact with the base 1 and is driven by the base 1 to rotate at a high speed, thereby generating a rotating alternating magnetic field with spatial uniformity, and utilizing the principle of electromagnetic induction, a receiving voltage is induced by coupling of a coil integrated in the wireless energy receiving end of the capsule robot, and after rectification and filtering, it can supply energy to the load.

[0017] like Figure 2 As shown, the base 1 includes: a shell 101, a reduction motor 105, an output gear 106, a driving gear 104 and its transmission shaft 107, a plurality of transmission rollers 103 and their roller shafts 102, wherein: the reduction motor 105 is meshed with the driving gear 104 through the output gear 106, the driving gear 104 is fixed through the transmission shaft 107 and meshed with the outer periphery of the magnetic field generating mechanism 2, and the transmission roller 103 is rollingly arranged on the shell 101 through the roller shaft 102 and contacts with the outer periphery of the magnetic field generating mechanism 2.

[0018] The shell 101 is made of non-magnetic high-strength material, and its edges are rounded.

[0019] The transmission rollers 103 are made of a smooth material, and the number of groups is preferably 7, and they are arranged along the arc surface of the base shell 101. The angles formed between adjacent groups and the center of the arc are 27.5°. There are 2 in each group, which are arranged in parallel front and back, and the spacing distance is slightly smaller than the width of the magnetic field generating mechanism 2.

[0020] like Figure 1 and Figure 2 As shown, the magnetic field generating mechanism 2 includes: a ring-shaped shell 201, a magnetic conductive sheet 202 arranged on the inner wall of the shell 201, a first permanent magnet 203 and a second permanent magnet 204 relatively arranged on the inner ring of the shell 201, and an outer gear ring 205 arranged on the outer ring of the shell 201, wherein: the outer gear ring 205 is meshed with the driving gear 104 of the base 1 to realize the rotation of the magnetic field generating mechanism 2; the shell 201 is in contact with the transmission roller 103 of the base 1.

[0021] The first permanent magnet 203 and the second permanent magnet 204 are both made of hard magnetic materials and are placed parallel to each other in the inner ring of the outer shell 201. The S pole of the first permanent magnet 203 is opposite to the N pole of the second permanent magnet 204. By adjusting the positions of the first permanent magnet 203 and the second permanent magnet 204, the direction of the controlled magnetic field can be changed or a rotating magnetic field can be applied.

[0022] A magnetic conductive block 206 is provided between the first permanent magnet 203 and the housing 201 and between the second permanent magnet 204 and the housing 201 . The magnetic conductive block 206 is fixedly connected by a high-strength adhesive.

[0023] The number of the magnetic conductive sheets 202 is preferably 8 groups.

[0024] The magnetic conductive sheet 202 and the magnetic conductive block 206 are both made of high magnetic permeability manganese-zinc ferrite materials, which are used to provide a low magnetic resistance magnetic path and reduce magnetic leakage. The introduction of the magnetic conductive sheet 202 and the magnetic conductive block 206 is beneficial to improving the magnetic field strength and uniformity.

[0025] After simulation experiments, the Maxwell simulation software was used to simulate the first permanent magnet and the second permanent magnet with a size of 200mm×200mm×30mm and a number of 8 sets of magnetic conductive sheets. The magnetic conductive sheets were made of PC40 and the first permanent magnet and the second permanent magnet were made of NdFe35. The distribution of magnetic induction intensity on the central axis of the device was obtained as follows: Figure 4 As shown in the figure, compared with the solution without using magnetic conductive sheets to construct an external closed magnetic circuit, the maximum magnetic induction intensity increases by 97% and the magnetic field uniformity increases by 11.2%, where the magnetic field uniformity is

[0026] The above-mentioned specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The protection scope of the present invention shall be based on the claims and shall not be limited by the above-mentioned specific implementation. Each implementation scheme within its scope shall be subject to the constraints of the present invention.

Claims

1. A magnetically controlled energy supply device for a gastrointestinal capsule robot, characterized in that: include: A base and a magnetic field generating mechanism of an annular structure rollingly arranged thereon, wherein: the capsule robot is located in the magnetic field generating mechanism, the outer portion of the magnetic field generating mechanism is in contact with the base and driven by the base to rotate at a high speed, thereby generating a rotating alternating magnetic field with spatial uniformity, and utilizing the principle of electromagnetic induction, a receiving voltage is induced by coupling of a coil integrated in a wireless energy receiving end of the capsule robot, and after rectification and filtering, it can supply energy to the load; The base comprises: a housing, a reduction motor, an output gear, a driving gear and a transmission shaft thereof, a plurality of transmission rollers and roller shafts thereof, wherein: the reduction motor is meshed with the driving gear through the output gear, the driving gear is fixed through the transmission shaft and meshed with the outer periphery of the magnetic field generating mechanism, and the transmission roller is rollingly arranged on the housing through the roller shaft and contacts the outer periphery of the magnetic field generating mechanism; The magnetic field generating mechanism comprises: a ring-shaped shell, a magnetic conductive sheet arranged on the inner wall of the shell, a first permanent magnet and a second permanent magnet arranged on the inner ring of the shell, and an outer gear ring arranged on the outer ring of the shell, wherein: the outer gear ring is meshed with the driving gear of the base to realize the rotation of the magnetic field generating mechanism; the shell and the driving roller of the base are in surface contact; The first permanent magnet and the second permanent magnet are both made of hard magnetic materials and are placed parallel to each other on the inner ring of the outer shell. The S pole of the first permanent magnet is opposite to the N pole of the second permanent magnet. By adjusting the positions of the first permanent magnet and the second permanent magnet, the direction of the controlled magnetic field can be changed or a rotating magnetic field can be applied.

2. A control method based on the magnetic control energy supply device according to claim 1, characterized in that: The base drives the magnetic field generating mechanism to roll mechanically, and applies a magnetic field with controllable direction and uniformity to the area between the first permanent magnet and the second permanent magnet, so as to achieve traction and guidance of the magnetically controlled capsule robot, wherein: the direction of the magnetic field is controlled by the reduction motor through the output gear, the driving gear and the transmission roller, and the uniformity of the magnetic field is controlled by the closed magnetic circuit formed by the magnetic conductive sheet and the relative areas of the first permanent magnet and the second permanent magnet; the coil integrated in the wireless energy receiving end of the capsule robot uses the principle of electromagnetic induction to couple and induce a receiving voltage, which is rectified and filtered to supply energy to the load.

Images