磁力驱动机器人胶囊的姿态无关交互距离调整

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Guoqing Li;Jing Li;Gastone Ciuti;Paolo Dario;Qiang Huang
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引用次数: 0

摘要

在临床应用中,磁驱动机器人胶囊的胶囊-结肠安全互动非常重要。这项工作提出了一种基于磁场振幅信息的解决方案,用于调整相互作用磁体之间的距离,以防止施加在胶囊机器人上的磁力和肠壁上的压力过大,从而导致结肠发生较大变形。首先,根据偶极子模型优化了嵌入胶囊的内部磁体的几何形状,使其接近球形磁场振幅。接着,介绍了磁场振幅与磁体间相互作用距离的数学映射,以及约束条件的推导和实现。然后,根据使用磁场信息的映射,提供了调整相互作用磁体之间距离的策略。最后,设计了实验来验证与姿势无关的相互作用距离调整。与之前的工作相比,所提出的解决方案能够快速调整磁体之间的相互作用距离,以提高磁驱动胶囊内窥镜中胶囊与结肠相互作用的安全性,因为相互作用距离可直接从磁场信号中得出,而无需胶囊定位这一先决条件。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Pose-Independent Interaction Distance Adjustment for Magnetically Driven Robotic Capsules
Safe capsule-colon interaction for magnetically driven robotic capsules is important in clinical applications. This work presents a solution based on the amplitude information of the magnetic field to adjust the distance between the interacting magnets, in order to prevent the magnetic forces exerted on the capsule robot and the pressure on the intestine walls from being overlarge, which may cause large deformation of the colon. As the first step, the geometry of the internal magnet embedded in the capsule is optimized to approach a near-spherical amplitude of the magnetic field based on the dipole model. Next, mathematical mapping from magnetic field amplitude to the interaction distance between the magnets is presented with constraint derivation and implementation. Then, a strategy to adjust the distance between the interacting magnets is provided based on the mapping using the magnetic field information. Finally, experiments are designed to validate the pose-independent interaction distance adjustment. Compared with the previous work, the proposed solution enables the quick interaction distance adjustment between the magnets to enhance the safety of capsule-colon interaction in the magnetically driven capsule endoscopies, since the interaction distance is derived straightforwardly from the magnetic field signals, without requiring the prerequisite implementation of capsule localization.
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CiteScore
6.80
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