Research On Interventional Diagnostic Micro-robot

"Capsule endoscope" is short for "intelligent gastrointestinal capsule endoscopy system",also known as "medical wireless endoscope".With capsule endoscope moving by the creeps of digestive tract,it records images through the digestive tract for use in medicine,so doctors can inspect the state of the entire digestive tract,and hence make a diagnosis,however,The current commercial capsule endoscopy system doesn't have drive mechanisms,the movement of capsule endoscope relies on the creeping realization of the digestive tract,therefore,the process of observation is uncontrolled,some specific location of the lesions may not be meticulous tested,so this paper introduced recent research achievements on the drive mechanism both at home and abroad,designed a new type of endoscopic robot, made a detailed analysis of the movement in the intestine and made a life-size model to verify the design.This paper is summarized as follows:The first chapter introduced the research background and conception of capsule endoscope,made presentment and analysis of the current drive mechanism,and summed up some problems of the capsule endoscope.Chapterâ…¡built the mathematical model of the capsule endoscope in intestinal creep movement using the membrane theory,and simulated the state endoscopic robot moving in mucus of intestine.Chapterâ…¢designed a new type of endoscopic robot,presented the moving principle in the intestine,and designed the structure program and key components according to the principle.Chapterâ…£analyzed material properties of Shape Memory Alloy(SMA) which is used in the mold design,used Brinson constitutive equation to describe the Material and mechanical properties in the phase transition of Shape Memory Alloy material.Chapterâ…¤designed the drive control system and circuit module required for testing of the endoscopic capsule.Chapterâ…¥was about test programs and test results,three tests were carried out,one was the temperature experiment of shape memory alloy,Measured the relationship of heating current and heating time at environmental temperature,one was mechanical test,to verify the material property of shape memory alloy,and the last was the general operation of the test,and then analyzed collected test dates.Chapterâ…¦concluded the main contents of this article,noted the improvement of the design,and analyzed the development direction of capsule endoscope.