Study On System Design And Control Method Of Magnetic Control Modular Capsule Robot

Since the invention of capsule robot,it has attracted wide attention because of its great potential in the field of biomedicine,and has brought historical progress for the examination and treatment of human gastrointestinal tract.In recent years,magnetically controlled capsule robots with various functions have shown great potential,such as image acquisition,targeted drug delivery,biopsy collection,etc.The collaborative work of multiple capsule robots carrying a single functional module can avoid the problem that a single capsule robot cannot be applied in clinical practice due to many integrated modules and large volume.Therefore,how to realize the cooperative control of multiple capsule robots carrying a single function module in the same magnetic field environment has become an urgent problem to be solved.This paper presents a magnetically controlled modular capsule robot system,which consists of a magnetically controlled modular capsule robot and an electromagnetic drive system.The robot is made up of three portable single function modules of the capsule robot,powered by spiral jet,universal space a rotating magnetic field generated by electromagnetic drive system to control its motion and mode conversion,solve after more than a single capsule robot integration module size is too large,unable to swallow or intestinal congestion problem.Firstly,a torque model of modular capsule robot is established.According to the principle of torque balance,the different motion states of modular capsule robot driven by external magnetic field are revealed.Secondly,by establishing a dynamic model,the influence of structural parameters on the motion performance of the capsule robot powered by screw injection was analyzed to optimize the structural parameters and improve the motion performance,providing theoretical basis for the design and control of the capsule robot.Are proposed in this paper the same magnetic field environment control modular capsule robot motion,separation and docking control method,this method can control three child capsule robot into a modular docking capsule robot movement,also can control the robot modular capsule separated into three sub capsule robot and selectively control specific sub capsule robot movement,realize the cooperative control of multiple magnetically controlled capsule robots in the same magnetic field environment.By establishing the motion characteristics of the modular capsule robot equation,reveals the robot driven by different motion in magnetic field model,implementation in the same magnetic field environment,the change of magnetic induction intensity and rotating frequency,control the movement of the robot modular capsule and multimode conversion,solve the multiple capsule robot coordinated control problem in the same magnetic field environment.The experimental results show that the modular capsule robot has high adaptability,and can achieve docking and separation in a limited space and the same magnetic field environment.After separation,it can accurately control the independent movement of the three sub-capsule robots and the fixed stop of the multi-task point.By using the cooperative control method proposed in this paper,multiple sub-capsule robots carrying single function modules can be swallowed separately,thus realizing various medical tasks such as examination and treatment in human digestive tract simultaneously.