肠道胶囊机器人驱动系统分析与设计-analysis and design of drive system for intestinal capsule robot.docxVIP

想提取出胶囊圆心位置及半径大小，再通过一系列算法得到胶囊与肠道壁的最短距离及方向。另一方面对理论计算的亥姆霍磁线圈产生的稳横磁场 进行仿真，证实了磁场具有很高的稳定性及均匀度，可以用于胶囊的运动 控制，并推导出了磁场中磁介质受力的公式模型。关键字：超声波，肠道胶囊机器人，海姆霍磁线圈，Matlab，图像处理， 相对精确定位Design and Research on Intestinal Robot Driving SystemABSTRACTIn recent years, with the social economic development, improved quality of life, increasing aging trend, people are paying more and more attention on their health. While the same time, pressures in work and life intensified, making most of the people at the sub-health state, people are having more and more requirement need for service in health care and cure. From the guiding idea of people-oriented, minimally invasive for the patient, and even non-invasive detection methods are becoming more and more welcomed by people, and the development in technology also make this goal come true.In the area of intestine health, Intestinal Robot was welcomed for his non-invasive characteristic. Further more, MEMS technology, IT technology made the capsule with more and more capbilities. But now the Intestinal Robot is still in the initial stage, there are still a lot of roads to go, a lot of difficulties to overcome before the robot is widely used. In this paper, the auther has presented a new method in relatively precise positioning, and has simulated it with tools like Matlab.In this paper, the auther will mainly work on the driving partof the Intestinal Robot, for the traditional method spend too much time and can not be controlled. So in this paper, several driving methods will be listed and compared by some key parameters, and the most proper method for Intestinal Robot will be introduced. And in the positioning part, several absoluteness positioning methods will be compared, and will introduce a new method：Relative precise positioning technology based on ultra-sound technology. This method will have much higher precision as will as more proper to the Intestinal Robot driving system, for we need relative position between the Intestinal Robot and the inte