Design And Research Of Gantry Magnetic Capsule Endoscopic Navigation Robot

With the rapid pace of life and the increased stress of the modern world,the gastrointestinal disease is more prevalent.The high incidence of stomach trouble in the crowd,and has a tendency to continue to increase.In China,one in ten people suffer from a different level of stomach disease.The detection of gastroscopy is the most effective method for detecting the internal organs of the stomach.However,the traditional intubation method of gastroscopy can cause a lot of damage to the patient's body and mind during the detection process.The capsule endoscopy technique has overcome the shortcoming of the intubation type gastroscope,and the painless detection has been realized.The capsule endoscope is divided into active self-driven and external magnetic field guided passive,the former is limited to the energy loss of its own motion,it is difficult to work for a long time,and the motor ability is limited.The latter,through the guidance of the external magnetic field,completely circumvented this drawback,can realize the capsule endoscope in the body movement.In this paper,a gantry magnetic control navigation robot device is designed,which can be used to guide the endoscope of the capsule through its terminal.The paper has made a comprehensive systematic work on the structure design,motion analysis and structural optimization of the robot.The details are as follows:Firstly,the design of robot structure is completed according to the actual working scenes and usage requirements.After the comparison of many design schemes,the overall structure of the robot is determined as the gantry coordinate structure.Completing the selection of standard parts and refining the structure design,the three-dimensional model of robot mechanical structure was established.Secondly,based on the 3D model established,the rod coordinate system of robot based on DH method is established,and the related parameters are determined and the kinematics equation of robot is deduced.Using MATLAB and ADAMS software the movements of robot in the actual work on kinematics simulation and trajectory planning have been completed.Then statics analysis was carried out on the major parts of the whole robot,checking whether the early stage of the mechanical structure stiffness and strength meet the design requirements.With the help of ANSYS Workbench software based on the response surface optimization method,the structural parts were optimized and designed,which reduced the quality of the parts or the maximum deformation,and improved the mechanical properties of the equipment.In the end,due to the high standards of the medical equipment,the reliability analysis of the key components is carried out.Based on the Latin lattice sampling method,the random sampling of different design variables and the combination of different design points are obtained,and the distribution of the maximum deformation of the parts is obtained,ensuring the reliability of the structure design.