A Study On Gastrointestinal Micro Robot Detection System Based On Wireless Power Transmission

In modern society,the mortality rate of gastrointestinal disease is very high.So the diagnosis of gastrointestinal diseases is very necessary.In order to overcome the shortcomings of traditional endoscopy and capsule endoscopy,the development of active gastrointestinal robot has become a hotspot in biomedical engineering.Subsidized by the national natural science foundation of China(61673271,81601631)and the Shanghai science and technology commission(14441902800,15441903100),this paper focused on researches about robotic capsule.This paper summarizes the characteristics,advantages and disadvantages of the various methods of diagnosis based on related research from home and abroad.The necessity and feasibility of the gastrointestinal micro-robot diagnosis are presented in this paper.Combined with the intestinal characteristics,analysis of the movement adapted to the special intestinal environment is presented.This paper choose inch-like movement to design the mechanical structure of the robot.Under the standard of miniaturization and biosafety,an Archimedes spiral leg radial clamping mechanism and an axial telescopic mechanism with screw nut structure are designed.The initial size of the robot is 15 mm in diameter and 35 mm in length,which meets the requirement of miniaturization.In order to provide adequate clamping force and a relatively flat radial expansion rate,a reducer with the speed of 489 is designed,which ensures a larger output torque.In order to realize the real-time control of gastrointestinal micro robot,a control circuit based on PIC24F16KA102 is designed,including wireless communication module,regulated power supply module,motor drive module and current detection module.As the internal space of the micro robot is limited,the issue of packaging and energy consumption should be taken consideration before choosing the chip to achieve the requirements of miniaturization and low energy consumption.In order to get rid of the biosafety problem caused by using the streamer power supply and the working time limit caused by the use of the miniature button battery,study on wireless power transmission is carried out in this paper.Three kinds of wireless power transmission methods are summarized,including electromagnetic induction mode,electromagnetic resonance mode and radiation mode.According to the application situation of micro robot,electromagnetic induction mode is determined.The optimization experiment of the wireless energy receiving coil is carried out to study the influence of the geometric dimension of the one-dimensional receiving coil on the transmission efficiency.The aim of the optimization of the receiving coil is to improve the energy receiving efficiency.