發(fā)布時間：2018-05-19 09:16

  本文選題：胃腸道疾病 + 亥姆霍茲線圈　； 參考：《天津理工大學(xué)》2017年碩士論文

【摘要】：目前,醫(yī)用管道微機器人是一種理想的人體胃腸道疾病無創(chuàng)診斷和治療的方案,根據(jù)臨床實踐的操作需求,本研究提出了一款由外部磁場驅(qū)動的新型醫(yī)用球形微機器人樣機,并且設(shè)計了相應(yīng)的激勵源系統(tǒng),在新的流體實驗平臺上對醫(yī)用球形微機器人的運動特性進行了評價與分析。系統(tǒng)通過上位機遠程界面發(fā)送控制指令,經(jīng)無線射頻芯片通信實現(xiàn)對信號發(fā)生電路輸出的正弦信號的頻率或者幅值參數(shù)進行實時調(diào)節(jié),同時將調(diào)節(jié)好的三路正弦信號通入到三軸亥姆霍茲線圈系統(tǒng)中去,在正弦信號的激勵作用下,線圈系統(tǒng)在中心區(qū)域產(chǎn)生旋轉(zhuǎn)磁場。利用外部旋轉(zhuǎn)磁場與球形微機器人內(nèi)嵌永磁體產(chǎn)生的內(nèi)磁場之間耦合效應(yīng),實現(xiàn)球形微機器人的有效運動。本課題分別對三軸亥姆霍茲線圈模型、線圈激勵源系統(tǒng)以及新型球形微機器人樣機進行了設(shè)計與分析,并且通過一系列的流體實驗評價球形微機器人的運動特性。首先,本課題設(shè)計并加工了三軸亥姆霍茲線圈模型,并且用有限元軟件ANSYS分析了三軸亥姆霍茲線圈產(chǎn)生的外部旋轉(zhuǎn)磁場的電磁特性,討論了亥氏線圈產(chǎn)生外磁場用于驅(qū)動球形微機器人運動的理論基礎(chǔ)。其次,結(jié)合控制系統(tǒng)對外部旋轉(zhuǎn)磁場的特性需要以及三軸亥姆霍茲線圈的驅(qū)動原理,本課題為三軸亥氏線圈模型設(shè)計了相應(yīng)的激勵源系統(tǒng),主要包括信號發(fā)生電路和上位機遠程控制電路兩個部分。同時本課題還對比了外部旋轉(zhuǎn)磁場的理論值與實驗測量值之間的誤差,驗證了驅(qū)動控制系統(tǒng)的有效性以及仿真結(jié)果的正確性。再次,本課題設(shè)計并制作了新型球形微機器人樣機,分析了球形微機器人受到的磁場力、浮力以及阻力,推導(dǎo)了外部旋轉(zhuǎn)磁場驅(qū)動球形微機器人運動的空間算法。結(jié)合三軸亥姆霍茲線圈的外磁場特性分析,本研究還對外磁場與球形微機器人內(nèi)嵌永磁體產(chǎn)生的內(nèi)磁場進行了耦合分析,進而得到了外部旋轉(zhuǎn)磁場驅(qū)動球形微機器人有效運動的磁場力的理論值。最后,本研究通過一系列的評價實驗,在新的流體實驗平臺上評價了新型球形微機器人的運動特性,主要分析了水流流速及方向、正弦信號的頻率及幅值參數(shù)對球形微機器人運動的影響,并進行了球形微機器人的轉(zhuǎn)彎實驗。實驗結(jié)果表明,新型的球形微機器人具有良好的動態(tài)特性,不僅可以實現(xiàn)在直線方向上的往返運動,而且其轉(zhuǎn)彎特性更為優(yōu)越。本研究提出的外部旋轉(zhuǎn)磁場驅(qū)動的球形微機器人具有廣闊的醫(yī)學(xué)應(yīng)用前景,能夠滿足臨床化的需求。在未來,醫(yī)用胃腸道診療微機器人研究的臨床化、實用化,對延長人類壽命,提高人類生活質(zhì)量具有重要的科學(xué)意義,胃腸道機器人也必將成為醫(yī)學(xué)工程發(fā)展史上的里程碑式事件。
[Abstract]:At present, the medical pipeline microrobot is an ideal non-invasive diagnosis and treatment scheme for human gastrointestinal diseases. According to the operational requirements of clinical practice, a new type of medical spherical microrobot driven by external magnetic field is proposed in this paper. The corresponding excitation source system is designed and the kinematic characteristics of the medical spherical micro robot are evaluated and analyzed on a new fluid experimental platform. The system sends control instructions through the remote interface of the host computer, and realizes the real-time adjustment of the frequency or amplitude parameters of the sinusoidal signal output by the radio frequency chip communication. At the same time, the three-channel sinusoidal signal is transferred into the three-axis Helmholtz coil system. Under the excitation of the sinusoidal signal, the coil system produces a rotating magnetic field in the center region. Using the coupling effect between the external rotating magnetic field and the inner magnetic field produced by the permanent magnet embedded in the spherical micro-robot, the effective motion of the spherical micro-robot is realized. In this paper, the three axis Helmholtz coil model, the coil excitation source system and the prototype of a new spherical micro robot are designed and analyzed, and the motion characteristics of the spherical micro robot are evaluated by a series of fluid experiments. Firstly, the model of three-axis Helmholtz coil is designed and fabricated, and the electromagnetic characteristics of the external rotating magnetic field generated by the three-axis Helmholtz coil are analyzed by the finite element software ANSYS. The theoretical basis of the motion of spherical micro robot driven by the external magnetic field generated by the Helmholtz coil is discussed. Secondly, according to the characteristics of the control system for the external rotating magnetic field and the driving principle of the three-axis Helmholtz coil, the corresponding excitation source system is designed for the three-axis Helmholtz coil model. Mainly includes the signal generation circuit and the host computer remote control circuit two parts. At the same time, the error between the theoretical and experimental values of the external rotating magnetic field is compared, which verifies the validity of the drive control system and the correctness of the simulation results. Thirdly, a new spherical micro-robot prototype is designed and manufactured. The magnetic field force, buoyancy and resistance of the spherical micro-robot are analyzed, and the spatial algorithm of the spherical micro-robot driven by the external rotating magnetic field is deduced. Combined with the analysis of the external magnetic field characteristics of the three-axis Helmholtz coil, the external magnetic field is coupled with the internal magnetic field generated by the permanent magnet embedded in the spherical micro-robot. The theoretical value of the magnetic field force of the spherical micro robot driven by the external rotating magnetic field is obtained. Finally, through a series of evaluation experiments, the kinematic characteristics of a new type of spherical micro robot are evaluated on a new fluid experimental platform, and the flow velocity and direction are mainly analyzed. The effects of sinusoidal signal frequency and amplitude parameters on the motion of spherical micro robot are studied. The experimental results show that the new spherical micro robot has good dynamic characteristics, not only can realize the round-trip motion in the straight line, but also its turning characteristics are more superior. The spherical micro robot driven by external rotating magnetic field has a broad prospect of medical application and can meet the clinical needs. In the future, the clinical and practical research of medical gastrointestinal microrobot is of great scientific significance to prolong human life and improve the quality of human life. Gastrointestinal robot will also become a milestone event in the history of medical engineering.
【學(xué)位授予單位】：天津理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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