Research On Micro Actuator And Control Of Capsule Endoscopy Robot

Owing to the Push-Endoscopy always bringing discomfort to the patients with alimentary tract disease feel uncomfortable. Especially for the focus of small intestine hemorrhagic disease, Push-Endoscope arouses more terribly pain to the patient. The capsule endoscopy achieve the examination of entire gastrointestinal, and solve the difficult diagnoses problem of small intestine. However, the capsule endoscope rely solely on natural peristalsis of the gastrointestinal tract traverse the entire human digestive tract can not be effectively controlled.This paper presents two different actuator programs by using the DC motor helical actuator and shape memory alloy (SMA), and locomotion mechanism of the capsule endoscopy robot are developed, and the wireless control circuits capsule are designed. Then actuator experiments of the capsule endoscope robot are made.Firstly, this paper analyzes the characteristics, work principle and constitutive model of SMA-actuator, and establishes the mathematical model of electric heating-driven, and makes the SMA actuator simulation experimental research.Secondly, the wireless control system hardware circuit design and software programming of capsule endoscope robot are completed on the basis of introducing MSP430 peripheral circuit modules.Finally, the expriment of DC motor herical actuator and SMA actuator for the capsule endoscope robot are made. According to the simulation experimental results show that the actuator approach presented in this paper is practicable, By further comparison the DC motor herical actuator with the SMA actuator that the SMA actuator has a strong driving force, and more easily miniaturized, it laid a foundation of capsule endoscopy robot for further research.