Design of A Novel Electromagnetic Actuation System for Actuating Magnetic Capsule Robot

摘要

The active motion control of the magnetic capsule endoscope in the human body is an important guarantee for accurate and complete acquisition of the internal photographs of the gastrointestinal tract. In this paper, we will design a novel electromagnetic actuation system that allows the magnetic capsule endoscope to perform point-to-point movement and fixed point rotation and the potential for this system to enter clinical medicine will be presented thanks to its open structure that can be combined with existing medical equipment, especially the imaging system, for diagnosis and treatment. The system consists of 8 electromagnetic coil modules. In order to optimize space occupancy and energy consumption, we utilize finite element analysis data to parameterize a single electromagnetic coil module. The spatial orientation of electromagnetic coil module is determined according to the geometric parameters of the human stomach and the magnetic field radiation range of electromagnetic coil modules. The mathematical model of the combined magnetic field distribution will be constructed based on the Biot-Savart law, and a simple model of the magnetic capsule endoscope is used to demonstrate the basic functions of this system.