摘要
可吞式无线磁驱胶囊机器人在胃肠道内的诊疗效果与机器人受到的外部磁驱动力密切相关。本文建立了外部磁驱动力的理论模型,基于等效磁荷模型推导了两径向充磁环形永磁体相互作用的数学表达式,采用自适应递归式计算方法开展了数值计算。此外,发展了环形永磁体间磁力实时测量方法,并开发了磁力-间距同步测量仪器开展实验研究,且建立了3D环形永磁体有限元仿真模型。实验测量磁力-间距关系曲线与理论计算和有限元仿真结果吻合较好,误差小于4%,验证了理论模型和有限元仿真模型的准确性和可靠性。通过参数分析,揭示了胶囊机器人内置永磁体长度、厚度和体积对磁力的影响规律。研究结果为精准驱动胶囊机器人在胃肠道内运动奠定了理论基础。
The diagnosis and treatment effect of the swallowing wireless magnetic capsule robot in gastrointestinal tract is closely related to the external magnetic driving force of the robot.In this article,the theoretical model of external magnetic driving force is formulated.The mathematical expression of the interaction between two diametrical magnetizing ring permanent magnets is deduced which is based on the equivalent magnetic charge method.The numerical calculation is carried out by the adaptive recursive calculation method.In addition,a real-time measurement method of magnetic force between ring permanent magnets is developed,a magnetic-spacing synchronous measurement instrument is developed to carry out experimental research,and a finite element simulation model of 3 D ring permanent magnets is formulated.The experimental measurement of the magnetic-spacing relationship is in good agreement with the theoretical calculation and finite element simulation results.The error is less than 4%,which verifies the accuracy and reliability of the theoretical model and the finite element simulation model.The influence of length,thickness and volume of embedded permanent magnet in the capsule robot on magnetic force is revealed by parameter analysis.The results provide a theoretical foundation for precise driving of capsule robot in gastrointestinal tract.
作者
郭志明
梁亮
蔺代永
陈相位
李凯
Guo Zhiming;Liang Liang;Lin Daiyong;Chen Xiangwei;Li Kai(College of Electromechanical Engineering,Changsha University,Changsha 410022,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2022年第1期253-261,共9页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(12002067,51875051)
中国博士后科学基金(2021M690964)
湖南省教育厅科学研究项目(20C0173)资助
关键词
磁力建模与测量
胶囊机器人
磁荷模型
径向充磁
环形永磁体
modeling and measurement of magnetic force
capsule robot
magnetic charge model
diametrical magnetization
ring permanent magnet
