The Design Of Magnetic Navigation System For Capsule Endoscope

Because capsule endoscopes(CE)cannot be manipulated and controlled as conventional gastroscopy during gastrointestinal endoscopy,a remote intervention is needed to implement active control.CE magnetron navigation is a kind of CE active control method,which can assist in the inspection in accordance with the operator's intent through the magnetic field acted on the CE.This thesis develops a complete set of control system of magnetron navigation equipment,aiming to provide doctors with more convenient and precise control method in the process of capsule endoscopy,improving inspection efficiency and reducing patients' suffering.The main work is as follows:First of all,according to the problems and bottlenecks encountered in the use of CE,this paper puts forward the design of magnetron navigation device of CEs,including the functions to be implemented,the methods of realization and the ideas of the tools.Second,based on the scenarios envisaged,electromagnetics and mechanics models are established.The size and distribution of the spacial magnetic field generated by the permanent magnet and the electromagnetic coil are analyzed respectively,and the numerical simulation is carried out.Subsequently,the calculation of the magnetic force and magnetic moment of the CE in the magnetic field is deduced.Based on the results above,two scenarios were proposed,that is,the CE floating state and the suspension state.The mechanical model under two states was analyzed as well.The quantitative relationship between the coordinate values was obtained by numerical calculation,which provides with the theoretical basis of navigation control.Then,the navigation system hardware was designed in detail.Including the overall structure of the electrical structure,a separate module program and the layout of the control cabinet and so on.Then,the navigation system software was designed in detail.First,the overall design,including software requirements analysis,framework design and software process design.The design of detailed front-end software,back-end software and assistive tools class follow.Finally,the design of the control algorithm is realized,including motion planning,capsule open-loop motion control algorithm and closed-loop motion control algorithm.Finally,design experiments to test functions of the system,according to the control methods proposed above.Analyze the superiority and inferiority of the system.