项目名称: 主动胶囊机器人在肠胃道中运动和导航机理研究
项目编号: No.61202196
项目类型: 青年科学基金项目
立项/批准年度: 2013
项目学科: 计算机科学学科
项目作者: 阳万安
作者单位: 宜宾学院
项目金额: 21万元
中文摘要: 胶囊机器人(无线胶囊内窥镜)的发明开创了消化道无损检测的新篇章。当前的胶囊机器人还有许多问题需要克服,如:没有定位,治疗和主动驱动功能,其中,主动驱动是当前需要迫切解决的问题。具有主动驱动功能的胶囊机器人可以缩短胶囊在体内的运行时间,提高检查效率;减少检查过程中产生的图片数量,降低医生的工作量;实现可疑区域的重点检查,防止病灶漏检;克服因检查时间过长胶囊内电池能量不足的问题。通过在机器人的胶囊外壳套上一个专门设计的磁环,利用体外磁场发生装置产生的磁场来驱动胶囊机器人,达到主动驱动的目的。要将这种新型胶囊机器人应用于临床,需要保证其安全性和可靠性,实现正确导航。因此,根据肠胃道的蠕动机理,研究胶囊机器人在肠胃道中的运动机理,胶囊与肠胃道的相互作用,胶囊机器人运动轨迹和位姿的可视化是实现其应用必须首先解决的研究课题。
中文关键词: 磁胶囊;驱动和定位;螺纹结构;磁力;扭矩
英文摘要: The invention of wireless capsule endoscope(capsule robot) is a greate innovation in non-destructive inspection for gastrointestinal tract.However,there are some deficiencies need to further research,for example,lacking of localization,treatement,and active driving.It is imperitive to realize active driving because the capsule robot with this function can decrease the time when the robot goes through into the gastrointestinal tract, improving the inspection effiency and solving the shortage of energy capacity of battery;and it can also reduce the pictures generated in the inspecton progress,alleviating the doctor's workload for analysing the pictures; at the same time, it can realize particular inspection for interesting regions.We add a specially designed magnetic loop outside the the capsule and make an equipment which can produce appropriate magnetic field to propel the capsule outside the body. The security, reliability, and guidance are the primary problems before its applying to the clinlic inspection. So it is imperative for us to study the capsule robot's movement mechanism, interaction between capsule robot and gastrointestinal tract.
英文关键词: magnetic capsule;driving and localization;Spiral structure;magnetic force;torque