Characteristics of spatial magnetic torque of an intestine capsule micro robot with a variable diameter
Characteristics of spatial magnetic torque of an intestine capsule micro robot with a variable diameter
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变直径肠道胶囊微型机器人空间磁矩特性
DOI：
10.1007/s11431-009-0152-y
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发表时间：
2009-07-01
期刊：
影响因子：
--
通讯作者：
Zhang XueWen
中科院分区：
文献类型：
--
作者：
Zhang YongShun;Yue Ming;Zhang XueWen
提出了一种变径胶囊微机器人在肠道内推进的驱动控制方法，该方法利用机器人内部的内驱动器与外驱动器旋转产生的旋转磁场之间的磁耦合作用，实现机器人在肠道内推进的驱动控制。外、内驱动器的结构均为多磁极交替排列的梯形磁柱，径向磁化强度不同。基于等效磁荷法建立了偏心状态下磁转矩的通用数学模型，并从理论上研究了磁转矩随执行器结构参数变化的特性。实验表明，该驱动方法具有磁力矩大、安全可靠等优点，通过径向间隙自动补偿，大大提高了变径胶囊微机器人的驱动能力。磁驱动系统在肠道医疗领域具有良好的前景。
A drive and control method is put forward for a variable diameter capsule micro robot to screw forward in intestine using magnetic coupling between an inner actuator inside the robot and the rotational magnetic field generated by a rotating outer actuator. The structures of the outer and inner actuators are magnet cylinders with multiple magnetic poles in tegular shape alternating with dissimilar radial magnetization. An universal mathematical model of magnetic torque at eccentric state is established based on the equivalent magnetic charge method, and the characteristics of magnetic torque with respect to structural parameters of actuators are theoretically studied. Experiments show that the driving method features advantages such as powerful magnetic torque, high safety, reliability, etc. The driving ability of the variable diameter capsule micro robot is greatly improved by its automatic radial clearance compensation. The magnetic drive system has a promising prospect of medical applications in intestine.