复合磁场胶囊式内窥镜运动控制方法研究

Research on Capsule Endoscope Motion Control With Complex Magnetic Field

为了提高磁性胶囊式内窥镜在人体胃部检查时的可控性,研究了一种采用复合磁场的闭环主动控制方法。采用永磁体与电磁线圈组合作为磁场发生器,胶囊式内窥镜内置的磁场传感器测量其所在位置的磁感应强度,通过无线通信系统传输至体外的控制设备。控制设备根据磁感应强度数据和磁场模型计算出胶囊式内窥镜所在位置的坐标,通过闭环前馈和反馈控制算法,实时调节磁场发生器作用于磁性胶囊式内窥镜的磁力,实现其在液体中的位置控制和稳定悬浮。相较传统开环控制,该方法具有控制精确、易用性高等特点。

In order to improve the controllability of magnetic capsule endoscope（ CE） manipulation,especially during gastric area inspection,we propose a close-loop control method using a composite magnetic actuator. The actuator includes a permanent magnet and a solenoid coil. A magnetic sensor is placed inside the CE,which measures the magnetic flux density implemented on it. The controller gets the information through RF and calculate the CE position. By feedforward and feedback control method,we can control the magnetic force generated by the actuator,which implements fix-position suspension on the CE. Compared to traditional ways of CE manipulation,this method has higher control precision and usability.