摘要
随着微创和无创诊疗技术的发展,磁控胶囊机器人成为了胃肠道内窥镜医疗领域的研究热点,在胃肠道实时诊断和治疗中具有广大的应用前景。本文对外部径向充磁永磁体空间磁场分布规律开展研究,采用等效磁荷法建立了磁场数学模型,并在MATLAB中编程对磁感应强度进行数值计算,且基于ANSYS软件建立了数值仿真模型。开发了胶囊机器人驱动系统和霍尔式磁感应强度测量系统,实现对环形永磁体旋转时径向磁感应强度的测量。实验结果与理论计算、数值仿真结果吻合较好,验证了模型的准确性和可靠性。本研究揭示了环形永磁体外部磁感应强度分布规律,发展了磁场测量和预测的方法,为永磁体磁性参数的确定与优化、胶囊机器人的磁驱系统建模和运动控制研究奠定了基础。
With the development of minimally invasive and non-invasive diagnosis and treatment technology,magnetic-controlled capsule robot has become a research hotspot in the field of gastrointestinal endoscopy,and has a broad application prospect in the real-time diagnosis and treatment of gastrointestinal tract.In this paper,the spatial magnetic field distribution law of external radial magnetized permanent magnet is studied.The magnetic field mathematical model is established with equivalent magnetic charge method,the magnetic induction intensity is numerically calculated by programming in MATLAB,and a numerical simulation model is established based on ANSYS software.The driving system of capsule robot and the measurement system of Hall type magnetic induction intensity are developed and the radial magnetic induction intensity is measured in the condition when the ring permanent magnet is rotating.The experiment results are in good agreement with the theoretical calculation and numerical simulation results,which verifies the accuracy and reliability of the model.This study reveals the distribution law of external magnetic induction intensity of ring permanent magnet,develops the method of magnetic field measurement and prediction,and lays a foundation for the determination and optimization of magnetic parameters of permanent magnet,and the modeling and motion control study of the magnetic driving system of capsule robot.
作者
郭志明
梁亮
彭正乔
宋辉煌
Guo Zhiming;Liang Liang;Peng Zhengqiao;Song Huihuang(School of Mechanical Engineering,Changsha University,Changsha 410022,China;Changsha Robo Automation Technology Co.,Ltd.,Changsha 410100,China)
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2020年第9期216-223,共8页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(51875051)
湖南省自然科学基金(2019JJ40324)
湖南省教育厅科学研究项目(19A047)
长沙学院人才引进科研基金项目(SF1942)资助项目
关键词
环形永磁体
胶囊机器人
等效磁荷法
磁场建模与测量
径向充磁
ring permanent magnet
capsule robot
equivalent magnetic charge method
magnetic field modeling and measurement
radial magnetizing
作者简介
郭志明,2010年于厦门理工学院获得学士学位,2018年于天津大学获得硕士和博士学位,澳洲昆士兰大学联合培养博士。长沙学院讲师,主要研究方向为实验固体力学,测量技术,软材料。E-mail:zmguo@ccsu.edu.cn;通信作者:梁亮,2000年于洛阳工学院获得学士学位,2003年于浙江大学获得硕士学位,2012年于中南大学获得博士学位。长沙学院教授。主要研究方向为医疗微型机器人与智能控制。E-mail:liang@ccsu.edu.cn
