In vivo interventional examinations and treatments have the advantages of being safe and minimally invasive, and are rapidly becoming mainstream in the field of medical engineering. People developed a micro digestive capsule endoscope is the use of peristalsis of the digestive tract for the entire region of the examination, by embedded CMOS micro-camera to wirelessly transmit the inspection image. However, it walks slowly and has a visual blind spot; when it misses the diseased tissue, it cannot actively return, making some medical operations impossible. Therefore, the development of a swallowable capsule robot that can be controlled by an in vitro cable-free drive has become a top priority.
Capsule micro-robot structure analysis In August 2005, the Chinese Academy of Sciences, Anhui Hefei Institute of Intelligent Machinery, director of Mei Tao undertook the study of the national "863" program focus on "wireless gastrointestinal examination of the robot's key technology research" recently passed the national acceptance in Beijing. Beijing through the national acceptance. Patients suffering from gastrointestinal diseases only need to swallow a "smart capsule" can be checked and treated gastrointestinal and other intra-abdominal diseases, do not have to endure today's endoscopic treatment, radiography surgery and other treatment modalities brought about by the pain. The disadvantage of this project is that the robot must be energized to achieve the purpose of medical examination.
The innovation of this research work is that they proposed a adjacent anisotropic radial magnetization multi-pole permanent magnets for the external drive to generate a rotating magnetic field, drive the capsule robot in the intestinal tract spinning drive control method, and proposed a variable-diameter helical structure of the capsule robot prototype, whose outer surface consists of four pieces of radial extension of the exterior of the exterior wrapped around the spiral ribs of the composition of the copper tiles, when the robot is rotating, the external surface forms a hydrodynamic pressure protective film, so that the intestine is protected from damage. With the self-compensation of the radial gap and the multi-wedge effect, the pressure of the hydrodynamic pressure film and the driving ability in the intestinal tract are significantly improved, and the vertical swimming in the pig intestine can be realized.