The Research Of A Micro Robot Inspecting System For Intestinal Tract Based On Wireless Power Supply

In recent years, the incidence of digestive system diseases is risingyear after year, its cancer probability is higher, and it is a serious threat tothe life and health of the people all over the world. At present, thetraditional endoscopy is the most widely used to the diseases of thedigestive system. Its mechanical insertion brings patient discomfort andpain, it’s easy to cause a lot of complications and its inspection has theblind area. Then, capsule endoscopy for alleviate pain in patients appears,but it’s the passive inspection with the intestinal peristalsis, can’trepeatedly observe the suspicious lesion site at fixed-point and limits theinspection time because of using batteries. It’s a new means and methodsto active and controlled micro robot system for gastrointestinalexamination, has a very important clinical application value, and hasbecome one of the current hot topics in the biomedical engineering.Based on the national natural science fund project (No.31170968),manned spaceflight project in advance research(No.010203) and theShanghai science and technology commission project (No.09dz1907400),combined with MEMS technology, design and realize the micro robotinspecting system for intestinal tract based on wireless power.Through the analysis from the domestic and foreign research, abiological inchworm robot in the intestinal environment which adopts theminiature DC motor is proposed. The biological inchworm motionmechanism is associated with the intestinal micro robot movement gait.Then, this paper analyzes the complex physiological characteristics of the human intestine, and because of the small intestine is a typical unstructuredenvironment, it is a great challenge to design the bionic inchworm microrobot system. Through the intestinal mechanical characteristics andmovement efficiency analysis of bionic inchworm micro robot, themechanical condition of the micro robot locomotion and clamping isproposed, and the biggest movement efficiency model is put forward. Atlast, the directive requirements of mechanical structure design to the bionicinchworm micro robot are put forward.According to the requirements of the micro robot mechanical design,applying the idea of modular design, combined with the inchwormlocomotion mechanism, the radial clamping mechanism and axialexpansion mechanism is designed in a limited space. The overall size ofthe inchworm micro robot is less than1536mm. A lot of modules fromthe micro robot are integrated. Based on the Archimedes helix standardpolar equation, the Archimedes spiral clamping mechanism is designed,which is beneficial to the release and distribution of stress in the process ofopening and closing, to prevent the damage of intestinal. The changingcurve of the clamping point is obtained through the cubic splineinterpolation.In order to realize effective locomotion without the cable and providecontinuing enough energy, wireless energy transmission system based onthe intestinal environment and control system by using wirelesscommunication technology are designed, to get rid of locomotionrestrictions and the intestinal injury brought by the cable. In order toprovide continuing enough energy，based on the basic principles ofwireless power, wireless energy transmission system in vivo and in vitro isdesigned for the intestinal environment. According to control requirementsof the inspecting system, in vivo intestinal micro robot control unit, in vitroa wireless communication controller and in vitro image receiving moduleare designed. A lot of modules are integrated in the small micro robot, forexample, the wireless communication, power supply, current detection, motor driver, image acquisition and transmission and so on.Based on the inspecting system hardware platform, adopting theembedded programming thought and object oriented programming concept,the software of the micro robot inspecting system for the intestinal isdesigned, including the design of embedded software and computersoftware for human-computer interaction interface, to realize theman-machine interaction, robot movement, video display, and a series offunctions.After the assembly of the micro robot inspecting system for intestinaltract based on wireless power is finished, respectively simulated intestinalexperiment and in vitro intestinal experiment have been done. Through thecomparison and analysis of the experimental results, the overallperformance of the micro robot system and the feasibility of the inchwormlocomotion are verified.The inspecting system basically achieves the desired effect, and somevaluable conclusions are drawn, laid a certain foundation for subsequentresearch work. If it has further industrialization as a medical device, it willbring revolutionary breakthrough in the diagnosis and treatment ofintestinal diseases.