【作者】 张帆；

【导师】 宋霜；

【作者基本信息】 哈尔滨工业大学 ， 机械工程（专业学位）， 2021， 硕士

【摘要】 肠道的健康状态很大程度上影响着人体的健康情况。人们生活节奏的加快,生活压力的增大,导致人们患上肠道疾病的概率大大增加,身体健康状况受到严重的影响。肠镜检查是目前发现肠道肿瘤及癌前病变最直接有效的方法,但肠镜检查是一种侵入性检查方式,在检查过程中给病人带来较大的痛苦。无线胶囊内窥镜应运而生,它避免了传统检查方式的痛苦,但它还存在许多缺陷和不足。当前临床使用的胶囊只能够实现图像传输,没有进一步的辅助诊疗功能。而胶囊机器人的主动运动、活检采样、定点施药治疗等辅助诊疗功能,是使其能够更加有效应用于临床诊断和治疗的关键技术。在以往胶囊机器人技术的研究基础之上,本文提出了一种面向肠道施药的磁驱动胶囊机器人。本文所设计的胶囊机器人具有创新性的结构设计,与传统的无线胶囊内窥镜相比,该胶囊机器人配置了磁驱动解耦模块、锚定腿模块和施药模块,使得该胶囊机器人能够在肠道内部某位置实现定点释放液态药物的治疗任务。该胶囊机器人的驱动方式为磁驱动,不需要在胶囊机器人内部额外负载电池等能源设备。磁驱动解耦模块的创新性设计使得两个功能模块能够共用一个磁驱动器,两个功能模块能够在外磁场作用下被分时独立控制。为了验证所设计胶囊机器人的功能可行性,本研究通过3D打印和CNC加工技术制造了一个胶囊机器人样机。胶囊机器人样机在模块转动力矩测量平台上进行了功能模块所需转动力矩和磁驱动模块传输转动力矩的测量,并结合理论分析进行了样机测试,测试结果表明胶囊样机具有良好的功能性。为了验证所设计胶囊机器人的锚定能力,本研究中搭建了锚定力测量实验平台。在该平台下测量了胶囊机器人样机在锚定腿展开与收回两种状态下与肠道间的摩擦力,实验结果表明所设计胶囊机器人具有良好的锚定能力。最后在定点施药平台下,胶囊机器人样机在外部永磁驱动器的作用下,在肠道仿体内成功完成了定点施药任务。本文所设计的胶囊机器人是面向未来的功能性胶囊机器人,提出的多个功能模块共用一个驱动器的集成方案具有创新性意义,对于功能性胶囊机器人在实现多功能化的同时保持微型化具有重要参考价值。更多还原

【Abstract】 The health state of the intestinal tract greatly affects the health of the human body.With the acceleration of people’s pace of life and the increase of life pressure,the probability of people suffering from intestinal diseases has been greatly increased,and their physical health has been seriously affected.Colonoscopy is currently the most direct and effective method for the detection of intestinal tumors and precancerous lesions,but colonoscopy is an invasive examinati on method,which brings great pain to patients during the examination process.Wireless capsule endoscope came into being,which avoids the pain of traditional examination,but it still has many defects and shortcomings.Currently,the capsules used in clinical practice can only realize image transmission without further auxiliary diagnosis and treatment function.The active movement,biopsy sampling,drug delivery and other functions are the key technologies that enable the capsule robot to be more effectively applied in clinical diagnosis and treatment.Based on the previous research of capsule robot technology,this paper presents a magnetic driven capsule robot with drug delivery function for intestinal tract.The capsule robot designed in this paper has an innovative structure design.Compared with the traditional wireless capsule endoscope,the capsule robot is equipped with a magnetic-driven decoupling module,an anchoring leg module and a drug delivery module,so that the capsule robot can realize the treatment task of drug delivery at a certain position in the intestine tract.Moreover,the capsule robot is driven by magnetic force,which does not require additional energy equipment such as batteries inside the capsule robot.The innovative design of the magnetic-driven decoupling module enables two functional modules to share a magnetic driver and the two functional modules can be controlled independently under the external magnetic field.In order to verify the functionality of the capsule robot designed in this paper,a prototype of capsule robot was produced by 3D printing and CNC processing technology.The capsule robot prototype was used to measure the rotational torque required by the functional module and the rotational torque transmitted by the magnetic-driven module on the measuring platform,and the prototype test was carried out in combination with theoretical analysis.The results show that the capsule prototype has good functionality.In order to verify the anchoring capability of the designed capsule robot,an experimental platform for anchoring force measurement was built in this study.The friction between the capsule robot and the intestine was measured under the conditions of the expansion and withdrawal of the anchoring legs on the platform.The experimental results show that the capsule robot has good anchoring capability.Finally,in the targetedlocation drug delivery experimental platform,the capsule robot prototype successfully completed the targeted-location drug delivery task in the simulated intestinal under the action of external magnetic driver.The capsule robot designed in this paper is a future-oriented functional capsule robot,and the proposed integration scheme of multiple functional modules sharing a driver is of innovative significance,which is of important reference value for the functional capsule robot to realize multi-function while maintaining miniaturization.更多还原