Research On Wireless Power Transfer Of Endoscope Robot And Its Experiments

Endoscope robot,for its advantage of active examination and minimal invasion to digestive tract,is a next-generation gastrointestinal examination technology after traditional endoscope.The wireless power transfer theory is studied in detail and its application to endoscope robot is analyzed.Considering the adaptability of intestinal physiological characteristics,the inchworm-like robot is equipped with two radical and one axial mechanical structure.Each radical parts consists of three spiral legs,driven by micro DC motor and its 7-grade reducer.Moreover,the axial part is driven by leadscrew nut after a 4-grade reducer,therefore,a ring ferrite core and coil can be mounted on the surface of axial part.This thesis intends to develop an endoscope robot wireless power transfer system based on resonant coupling theory.The frequency and amplitude of transfer coil current is controlled by UCC3895 inverter circuit.Meanwhile,resonant capacitor ensures its resonant parameters.The analytical model of transfer coil,with a diameter of 69 cm,is built and optimized to achieve ideal system efficiency.Moreover,by optimizing thickness of ferrite core and number of strand and layers,received power and efficiency is maximized.To verify the wireless power transfer stability and robot motion validity,the experimental prototype of isolated intestinal segment,as well as rigid conduit,has been constructed.