Research Of Wireless Information Collection And Drive Control System For The Micro Capsule Robot

Endoscopy and capsule endoscopy are mostly used for the gastrointestinal diseases examination in clinical medicine, especially the former. However patients will feel uncomfortable during the endoscopy inspection process. Sometimes it can even cause some hurt. The capsule endoscopy is a kind of micro robot with a built-in mini-camera to get and transmit gastrointestinal images to the outside computer. This kind of robot can only be moved by the gastrointestinal natural peristalsis. Although it is safe and painless, this method has many disadvantages such as too much inspection time (usually 6-8 hours), too much useless information and it can not stop when a detail inspection is needed. Therefore, the self-driven micro capsule robot will play an important role in the minimal invasive medicine of intestinal inspection and drug delivery in the future. The thesis will develop a propeller driven micro capsule robot and design a novel wireless information collection and drive control system (WICDCS) for it.Firstly, the circuit board of WICDCS system is designed. The hardware system includes the control module based on MSP430F1232, the stepper motor drive circuit based on A3901, the RF circuit based on CC2500, and the lighting circuit for the mini camera. The board must meet the requirements of small size and low power consumption.Secondly, the software of WICDCS system is designed. The software system includes wireless communication module, wireless drive control module, and wireless image acquisition and transmission module in which the modularization and hierarchy design ideas are used. Based on visual C++, the object oriented human-machine interfaces are adopted.Thirdly, image processing and analysis are carried out in a simulated intestine environment. Affected by various factors of the wireless transmission process and the intestinal environment, it will cause a decline for image quality. Image enhancement is needed for post image processing and aided diagnosis. Some methods and algorithms are studied in the paper to get an improved visual effect. Finally, it is the realization and experiments of WICDCS system and capsule robot. According to the analysis of intestinal environment, the mechanical structure of the capsule robot is designed. Some experiments of robot control and the visual information collection are carried out. The result is practical and stable. The design of propeller driven structure is a kind of new attempt for the development of driven approaches of capsule robot.