磁导式胶囊内窥镜力学建模和系统研制-mechanical modeling and system development of magnetically guided capsule endoscopy.docxVIP

华 华 中 科 技 大 学 硕 士 学 位 论 文IVIVmachine’s mechanical properties under external electromagnetic equipment.Section Ⅲ focuses on the design and integration of a magnetic propulsion system for specific application of active locomotion control of the endoscopic capsule. Engineering design of the magnetic propelled endoscopic system is performed. A novel magnetic propulsion system is proposed, which has five coupling axes and can realize capsuleendoscope’s multi-direction movement in the gastrointestinal tract. The integration approach of the endoscopic system involves camera lens, CMOS sensor, microcontroller, RF transmitter, antenna, LEDs, button cells, and magnetic shell. The microsystems integration of the capsule endoscope is based on commercialized chips and devices available on the markets, rendering the total costs of the endoscopic capsule less than 5 dollars with power supply up to 120 mW and dimension of ?12mm×34mm. A custom-made magnetic shell is applied to the capsule externally in order to make the capsule responsive to the magnetic field generated by a magnetically steering system designed specifically for active locomotion control of the developed capsule endoscope. The magnetic-steered endoscopic capsule system is proven to be appropriate to achieve the speed of 10mm/s on average and go through the simulated gastrointestinal tract (? 20mm×1600mm) within 3 minutes.Section Ⅳ describes the in vitro experiments being carried out in the transparentpolyvinyl chloride tube with and without intestinal layer. The dimension of the simulated intestine is ?20cm×160cm and it includes 6 regions which represent different combination ofstraight and curved paths. The result suggests the feasibilities of steering the endoscopic capsule’s location and orientation by the developed magnetic propulsion system. However, further investigations should be carried out for improving the current system in two aspects: 1) External image visualization un