适用于螺旋驱动式胶囊机器人内窥镜的双端接收线圈设计与实验OA
Design and experiment of dual-end receiving coil for helical drive capsule robot endoscopes
无线胶囊内窥镜是一种非侵入式肠道检测工具,但其缺乏主动运动能力,而基于主动运动平台的胶囊机器人内窥镜则是解决这一问题的有效方案.因此,设计了一种采用螺旋驱动式运动结构的胶囊机器人内窥镜,其可以通过控制螺旋驱动单元的转速和转向实现不同的动作.针对该机械结构,设计了与其适配的双端接收线圈,通过理论分析以及数学建模的方式计算了不同拓扑结构接收线圈的电气参数.最后,通过仿真模拟以及实际实验测试,评估了不同拓扑结构接收线圈的效率.实验结果表明,采用先整流后串联的拓扑结构时,双端接收线圈表现出较高的稳定性,线圈在感应产生981 mW功率时,能量传输效率为2.75%.此外,管道实验也验证了无线能量传输系统能够满足胶囊机器人内窥镜运动和控制的功率需求.
Wireless capsule endoscopes provide a noninvasive approach for intestinal examination but re-main limited by the absence of active mobility.To address this constraint,a capsule robotic endoscope based on an active motion platform was developed.A helical drive mechanism was designed to enable ver-satile locomotion through control of the rotational speed and direction of the helical drive unit.To accom-modate this mechanical configuration,dual-ended receiving coils were designed,and the electrical parame-ters of coils with different topological structures were derived through theoretical analysis and mathematical modeling.The performance of the proposed coil topologies was subsequently assessed by simulation and validated through experimental testing.The results demonstrate that a rectifier-followed-by-series topolo-gy provides high stability for the dual-ended receiving coil,achieving a power transfer efficiency of 2.75%at 981 mW induced power.Pipeline experiments further confirm that the wireless power transfer system satisfies the power demands required for capsule endoscope robot locomotion and control.
文人庆;颜国正;韩玎;姜萍萍;王志武
上海交通大学 自动化与感知学院,上海 200240||上海交通大学 生物医学工程学院,上海 200240上海交通大学 生物医学工程学院,上海 200240上海交通大学 生物医学工程学院,上海 200240上海交通大学 自动化与感知学院,上海 200240上海交通大学 自动化与感知学院,上海 200240
医药卫生
胶囊机器人内窥镜无线能量传输螺旋驱动式运动机构双端接收线圈无线能量传输效率
capsule robotsendoscopewireless power transferhelical drive motion mechanismdual-end receiving coilwireless power transfer efficiency
《光学精密工程》 2026 (3)
415-424,10
国家自然科学基金资助项目(No.62273225)上海市白玉兰人才计划浦江项目(No.24PJB037)
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