Design Of Micro-robot Magnetic Drive System Based On Rectangular Electromagnetic Coils

Micro-robot system research has always been the frontier research directio n in the field of biomedicine.Thanks to its tiny size,micro-robot can perform targeted drug delivery and site-specific thrombolysis in a very limited tissue space during minimally invasive surgery.It not only reduces the patient's trauma,shortens the recovery period of surgery,but also can easily and harmlessly treat the lesions that cannot be reached by traditional surgery.In order to realize the free motion control of the micro-robot at a small scale,the magnetic field has obvious advantages as a safe and efficient driving source compared with the general external field driving source.Its cableless drive connection facilitates robot operation in a small scale space.At present,researchers around the world are actively conducting research on micro-robot systems based on magnetic field drive.In the foreseeable future,research on magnetically driven micro-robot systems will definitely promote the development of medical technology and benefit all mankind.Aiming at the problem of driving micro-robot in human tissue fluid during medical operation,this thesis designs a micro-robot magnetic drive system based on rectangular electromagnetic coils to control the 5-DOF motion of micro-robot in three-dimensional space.The system consists of rectangular coil group drive platform design,magnetic drive algorithm design and visual feedback system design.The rectangular coil group driving platform is used as the magnetic field generating device.The mathematical model of the spatial magnetic field is constructed to generate the controllable magnetic field to drive the magnetic micro-robot.The magnetic drive algorithm design is based on the spatial magnetic field model to establish the mapping relationship between the magnetic field torque and the magnetic force and the rectangular coils group drive current and solve the problem by linear programming algorithm.The visual feedback system uses the three-dimensional coordinates of the micro-robot in the workspace as feedback information to accurately drive the micro-robot in real time.Under the control of the magnetic drive system,the micro-robot realizes fixed-point rotation and linear motion in the three-dimensional workspace.It is proved that the magnetic drive system can drive the micro-robot to turn in any direction in the workspace and move linearly to the destination point,which satisfies the drive design requirements of the system.