Design Of Magnetic Capsule Endoscope Navigation Robot

In today's fast-paced environment,gastrointestinal diseases are becoming more common.As the early phenomenon of gastrointestinal disease is often not obvious,and easy to be ignored,thus gradually developed into a more serious disease,and even carcinogenesis.Therefore,the detection of gastrointestinal diseases has important research significance.Intubation endoscope technology as the most widely used detection technology will cause the patient's discomfort in the detection process,resulting in resistance to detection of psychological.Due to the limitations of the driving mode,although capsule endoscopy achieves painless detection,it can only be detected passively or only have limited movement ability,and the detection effect is worse than the intubation endoscope.Therefore,this paper designed a magnetron capsule endoscope navigation robot.The end of the robot is equipped with a permanent magnet,which can control the motion of the capsule endoscope in the human body through the action of the magnetic field.The use of the robot will not cause discomfort to patients,detection effect is better than intubation endoscopy.Using the robot will not make patients feel discomfort,and its detection effect is better than intubation endoscope.The purpose of this paper is to design a magnetic capsule capsule endoscopic navigation robot that can control the motion of capsule endoscope in human body through magnetic field outside human body.The main work is as follows:1.According to the use environment and design index,complete the robot structure design and transmission scheme design,and complete the transmission system components selection.The mathematical model of the robot mechanism is established,and the kinematics analysis and dynamics analysis of the robot are carried out to verify the feasibility of the robot structural design.2.The static finite element analysis of the main components of the robot is carried out to check whether the component deformation and stress distribution meet the design requirements.Furthermore,the response surface analysis optimization method is used to optimize the main components,and the optimization results with realistic machining significance are given later3.Rigid body dynamics model and rigid-flexible coupling dynamics model are established,and the rigid body dynamic simulation and rigid-flexible coupling dynamics simulation are carried out on the robot using the same joint driving function to verify the rationality of transmission system selection.By comparing the two simulation of the end trajectory,we can understand the dynamic deformation characteristics of the robot during the movement.Further,the modal analysis of the robot is carried out to obtain the first six natural frequencies and modal shapes,which provides the basis for the robot structure optimization and motion planning.4.The robot prototype was tested and the robot was optimized according to the experimental results.The feasibility of using the magnetic capsule endoscope navigation robot to control capsule endoscopy for gastrointestinal tract detection was verified.