The Research Of A Micro Robot System For Intestinal Diseases Non-invasive Diagnoses Based On Wireless Power Transfer

Gastrointestinal disease is a common digestive tract disease.Nowadays,the mortality rate is very high,so the diagnosis of gastrointestinal diseases is particularly important.With the development of MEMS technology and modern engineering medical technology,gastrointestinal diagnosis system has broad prospect in clinical medicine,and has become the frontier field of biomedical engineering.Because gastrointestinal robot system can solve the shortcomings of traditional endoscopy and capsule endoscopy,it is considered as the best scheme of future gastrointestinal examination system.the National Natural Science Foundation of China(No.61673271,No.81601631)and the China Post-doctoral Fund(2016M601587)subsidize this article.The paper focuses on achieving non-invasive gastrointestinal diagnosis and treatment to design and research mechanical structure,wireless energy transmission subsystem and communication control module.Firstly,this paper explores the research status of gastrointestinal diagnosis system and biomedical wireless energy supply system at home and abroad,and analyses and summarizes the advantages and disadvantages of different ways to determine the design requirements of intestinal robot based on the physiological characteristics of gastrointestinal tract.Based on the principle of inchworm-like motion and the driving mode of micro-motor,the double-layer laminated leg radial expansion mechanism and screw nut axial expansion mechanism are designed,and the radial mechanism and axial mechanism are analyzed mechanically.In order to solve the defects of motor blocking,such as affecting the life of motor and easily jamming the mechanism,a limit protection device is designed based on Hall element to improve the stability of system operation and the life safety of motor.In order to realize the cable-free gastrointestinal diagnosis and treatment system,the biomedical wireless energy transmission system is studied.The paper designs the wireless energy transmission circuit and receiving circuit.The receiving power parameter equation is obtained by modeling and analyzing the receiving coils to improve the transmission efficiency and the receiving power.The single-dimensional receiving coil is optimized by the core thickness,winding layers and strand specifications through experiments,and the optimal parameters are determined under the constraints of limited space,so as to ensure that the robot can get sufficient energy.In order to control the robot in real time,the communication control circuit is designed,including serial communication,wireless communication,motor drive,position detection and current detection modules,and the code is compiled to ensure the stable and orderly operation of the robot in the intestinal tract.The functional test experiments are carried out,and the traveling speed of the robot is tested in rigid pipes and isolated intestines to verify the validity of the robot motion,the stability of wireless energy transmission and the safety and reliability of the robot structure.Finally,this paper summarizes the problems encountered in the research process and the research results,and prospects the future research directions.