Research On The Control And Movement Characteristics Of The Spherical Microrobot

Noninvasive medical microrobot is the ideal diagnosis and treatment plan for the gastrointestinal tract disease,according to the need of clinical practice.This study put forward and designed the medical spherical microrobot control system driven by the magnetic field.The movement characteristics in the new experimental platform were evaluated.The control signal was sent via PC to control the coil that could produce the external magnetic field,using the coupling between the magnetic field in order to realize the real-time control of the pose information for the microrobot.In the system,this paper analyzed and designed the coil model,the magnetic field driving system and the microrobot,respectively,and then conducted the evaluation of the movement characteristics of the microrobot through the experiment.Firstly,this paper designed and machined the three axis Helmholtz coil model,completing the analysis of the principle of the external magnetic field driving the spherical microrobot movement.The characteristics of the external magnetic field generated by the three axis Helmholtz coil was conducted,using the finite element software ANSYS.Secondly,combined with the actual needs of the external magnetic field drive,this paper designed the PC driver source system for the Helmholtz coil model,mainly including the signal generating circuit and the PC remote control circuit.At the same time,this paper had carried on the theoretical and the experimental analysis for the strength of the magnetic field generated by the three axis Helmholtz coil.Thirdly,this paper proposed and designed the spherical robot,and carried on the force analysis of the robot,deducing the algorithm to drive the robot movement.In addition,this paper also had carried out the coupling analysis between the magnetic field generated by the Helmholtz coil and the magnetic field generated by the permanent magnet embedded in the robot to get the theoretical values of the magnetic force to drive the robot movement.Finally,the movement characteristic of the robot was evaluated in the new experimental platform through experiments.The experiments showed the robot had many good movement characteristics,not only can realize the movement back and forth in the straight line direction,and had more superior features in turn motion.In this paper,the magnetic field driving the robot had good prospects for the medical application,meeting the requirements of the clinical application.In the future,the study of the clinical medical diagnosis can prolong the life and improve the quality of the human life,having the important scientific significance.The gastrointestinal robot will become the event in the history of the development of the medical engineering.