在胃中使用囊内镜的最佳运动控制,使用带有双永久磁铁的磁导航系统
Suhong Bae1, Junhyoung Kwon1, Jongyul Kim1
1Department of Mechanical Convergence Engineering, Hanyang University, Seoul 04763, Republic of Korea.
Micromachines
|August 29, 2024
概括
这项研究引入了一种用于囊内镜 (CE) 的新型磁导航系统 (MNS). 该方法精确地控制CE运动,使得上部胃肠道检查能够准确地进行,没有不必要的运动.
科学领域:
- 医疗器械 医疗器械
- 机器人技术 机器人技术 机器人技术
- 胃肠病学 胃肠病学
背景情况:
- 囊内镜 (CE) 对于检查上部胃肠道至关重要.
- 具有外部永久磁铁 (EPM) 的传统磁导航系统 (MNS) 可能会导致不必要的转换运动,阻碍准确的CE检查.
- 精确控制CE运动对于有效诊断至关重要.
研究的目的:
- 开发一种使用外部永久磁铁控制囊内镜运动的新方法.
- 在CE考试期间消除不必要的翻译运动.
- 优化磁导航系统的设计,以加强上部胃肠道检查.
主要方法:
- 分析CE运动使用点双极近似模型来计算磁力扭矩和力.
- 开发一种方法来确定EPM最佳定位和方向,以控制倾斜和旋转运动.
- 为轻量级MNS设计优化双重EPM重量.
主要成果:
- 拟议的模型准确地预测了在磁性操纵下CE运动.
- 开发了一种方法,可以实现精确的倾斜和旋转控制,而无需翻译文物.
- 一个轻量级的MNS原型成功开发和测试.
结论:
- 开发的MNS有效地控制囊内镜的运动,使得准确的检查.
- 这项技术有可能显著提高上部胃肠内镜的诊断能力.
- 优化的双EPM设计为先进的CE导航提供了实用解决方案.
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