CN100571606C - A kind of microrobot and external guidance system thereof - Google Patents
A kind of microrobot and external guidance system thereof Download PDFInfo
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- CN100571606C CN100571606C CNB2006101654959A CN200610165495A CN100571606C CN 100571606 C CN100571606 C CN 100571606C CN B2006101654959 A CNB2006101654959 A CN B2006101654959A CN 200610165495 A CN200610165495 A CN 200610165495A CN 100571606 C CN100571606 C CN 100571606C
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
A kind of microrobot and external guidance system thereof, fuselage [1a] internal placement has permanent magnet block [1b], micromotor [1f], radio frequency receiver [1d], minicell [1e], afterbody rotating mechanism [1h] forms a fixed connection by the swingle that stretches out in the through hole of fuselage [1a] rear end with afterbody [1i], and swingle and fuselage [1a] adopt the sealing of high resiliency diaphragm seal.The external alignment control system of microrobot, treat search coverage by imaging subsystems [6] and carry out continuous sweep, the gained raw image data is admitted to computer control subsystem [7] and carries out image reconstruction, magnetic orientation subsystem [5] carries out magnetic orientation to the inner permanent magnet block [1b] of microrobot [1], the gained original position-information is admitted to computer control subsystem [5] and carries out the position reconstruction, computer control subsystem [5] produces the guiding control information and also is passed to magnetic steering subsystem [4], and magnetic steering subsystem [4] is to microrobot [1] control of leading.
Description
Technical field
The present invention relates to bionic micro robotics field, particularly microrobot and external guidance system thereof.
Background technology
Development along with robotics and microelectromechanical systems, microrobot becomes the focus of domestic and international research, particularly enter the wireless endoscope, vascular micro-robot of human body and survey the microrobot of usefulness towards the tiny pipeline of industrial equipment, its development and using especially comes into one's own.Because working environment is special, this class microrobot can not be ordinary robot's a simple microminiaturization, particularly can be very different with the ordinary robot on type of drive.At present, the type of drive of microrobot roughly can be divided into two classes: a class is to utilize the robot body actuator to drive; Another kind of is to drive by the outfield, mainly is to utilize some functional materials that the response characteristic that adds physical field is made microactrator, realizes wireless driving by outer field excitation.
For body actuator type of drive, mostly adopt bionical type of drive, made digestive tract examining robot model, S.Hirose as imitation loopers such as D.Reynaerts and designed and imitate Serpentis robot, the Zhou Yinsheng of Zhejiang University etc. and proposed imitative Limax and imitative Tinea Ranae robot, the Mei Tao of Hefei Intelligent Machinery Inst., Chinese Academy of Scineces etc. and proposed imitative Gekko Swinhonis climbing robot and Shanghai Communications University face state and just waiting and developed miniaturized bionic 6-leg robot etc.Because working environment has strict requirement to the volume of robot, therefore, the controllable degrees of freedom of these bionic micro robots is less at present, in general there is not special attitude control, but the constraint naturally of tube road or contact surface realizes, therefore contact surface is had certain damage, this is disadvantageous for medical robot, bigger local of some curvature even may result in blockage.The research of outfield type of drive is also more active, has developed the miniature Formica fusca that is driven by ultrasonic field as T.Yasuda etc., T.Fukuda etc. have made the pipeline microrobot that is driven by alternating magnetic field with giant magnetostriction material, usefulness such as K.Ishyama are wound with the permanent magnet material of helical wire and have made the microrobot that is driven by rotating excitation field, the Mei Tao of Hefei Intelligent Machinery Inst., Chinese Academy of Scineces etc. has studied capsule endoscope robot that external magnetic field drives and the Wang Qiu of CAS Electrical Engineering Research Institute and has very waited the magnetic navigation surgical operation model system of having developed uniform gradient magnetic field driving permanent magnet block etc.These robot bodies do not need motor, do not need inside that energy is provided yet, so size can do very for a short time, and what have accomplishes diameter less than 1.5mm, but lack attitude control, and motility is not good enough.Under a lot of application scenarios, it may be a kind of better scheme that two kinds of type of drive are combined, and the forms of motion of occurring in nature magnetotactic bacteria adopts similar mode exactly.
Magnetotactic bacteria is the antibacterial that a class has the magnetotaxis behavior, and body contains and is arranged in catenate single magnetic domain granule (being the magnetic corpusculum), and there is the helical form flagellum that is driven by flagellar motor the end.In natural environment, geomagnetic field action produces magnetic torque in magnetic corpusculum chain, forces magnetotactic bacteria to be orientated along the earth's magnetic field.The intravital chemotactic pick off of antibacterial is to be responsible for receptor complex albumen--the methyl chemotactic protein that induced environment changes, can start flagellar motor is rotated counterclockwise flagellum, drive thalline along earth's magnetic field direction straight line swimming, seek the little aerobic environment that is fit to its growth thus.Like this, magnetotactic bacteria utilizes the earth's magnetic field to seek the task of seeking that task is reduced to the one-dimensional space with three-dimensional, there are some researches show that this mode improves it greatly and seeks speed and seek efficient.
United States Patent (USP) 5337732,5662587,5906591 " imitative Serpentis or looper endoscope robot ", Chinese patent 01126965.0 " bionic 6-leg microrobot " all adopts the type of drive based on the body actuator.Above-mentioned United States Patent (USP) " imitative Serpentis or looper endoscope robot ", the body actuator is the interconnective joint of multistage in the machine human body, comprise traction joint and excitation joint, control in order, robot is done be similar to moving of Serpentis or looper by action to each joint.Above-mentioned Chinese patent " bionic 6-leg microrobot " mainly comprises frame, micromotor, the worm and gear device, belt drive unit, four-bar mechanism, and front foot, mesopodium and metapedes, its connected mode is: frame inside is provided with micromotor, the worm and gear device, belt drive unit, the frame outside is provided with four-bar mechanism and front foot, each two of mesopodium and metapedes, micromotor is connected with the worm and gear device, be connected with belt drive unit again by belt, the axle of belt drive unit is connected with four-bar mechanism respectively, and power passed to four-bar mechanism respectively, four-bar mechanism respectively with front foot, mesopodium is connected with metapedes, and drives six sufficient walkings.Among the present invention, the machine human body contains minicell, radio frequency receiver, micromotor, afterbody rotating mechanism and afterbody, by the action of computer by radiofrequency launcher control micromotor, drive the work of afterbody rotating mechanism, robot is moved forward or backward.
Another kind of patent relates to the outfield and drives the microrobot technology, and for example Chinese patent 200510040887.8 " is surveyed external magnetic field driving apparatus and method " and Chinese patent 200410009485.7,200410009528.1 in the body.The related external magnetic field actuation techniques of above-mentioned patent all is to utilize comparatively uniform gradient magnetic in the built-up coil system structure space (by often leading or the superconducting coil generation), by the size of adjusting loading current and coil sections is controlled gradient jointly with respect to the motion of human body size and direction, this gradient magnetic acts on the space vector power of built-in magnetic to obtain to expect of magnetic microrobot, and then realizes the motion of expectation.Among the present invention, the external orientation coil produces even magnetic field pulse guide field, the interior magnet that forces the magnetic microrobot is along the deflection of magnetic field pulse guide field direction, from whole moving process, microrobot is tending towards moving along the tangential direction that pipeline extends, and the energy that the driving microrobot moves is provided by the devices such as micromotor of microrobot inside.
Current, the medical robot technology obtains paying attention to day by day, because internal milieu, conventional machines people is difficult to play a role, therefore various bionic micro robot arises at the historic moment, but also there is deficiency in the bionic micro robot in the microminiaturization of volume and the aspects such as motility of motion at present.
Summary of the invention
The objective of the invention is to overcome shortcomings such as the attitude control that exists in the existing microrobot actuation techniques and mobile motility be not good enough, use for reference the motion mode of magnetotactic bacteria, propose bionic micro robot and the external guidance system thereof of a kind of active screw propulsion in conjunction with the control of external magnetic field attitude.To a certain extent, the invention solves the contradiction between robot volume microminiaturization and the kinematic dexterity, play a significant role in the detection of diagnosis and treatment and non magnetic tiny pipeline in vivo.
1, microrobot function of the present invention and structure are described as follows:
Microrobot of the present invention is externally in magnetic field pulse guide field and the body under the driving of micromotor, along the deflection of magnetic field pulse guide field direction, and advance to giving to set the goal along the tangential direction that pipeline extends, and can under computer control, regulate micromotor by RF transceiver, make robot do forward, oppositely move.
Microrobot comprises following ingredient: fuselage, permanent magnet block, micromotor, radio frequency receiver, minicell, afterbody rotating mechanism and afterbody.
The casing of microrobot is made into capsule shape, the two ends slyness, and no projection in centre and groove, adopt on the surface, and medical material slick, that have certain toughness and flexibility coats, with the friction of minimizing with pipeline inner wall.The fuselage interior hollow out has a helicla flute that is used for fixing permanent magnet block on the front end inner peripheral surface, the bottom has an axially extending bore, and fuselage is processed into symmetrical two block of material, and both unite two into one to paste and are integral during installation.The micromotor profile is a cuboid, is arranged in the fuselage.Robot afterbody rotating mechanism is used to drive the afterbody that shape is similar to the magnetotactic bacteria flagellum, afterbody is made by the better medical material of pliability, afterbody forms a fixed connection with the swingle that stretches out in the fuselage through hole, adopts the high resiliency diaphragm seal with swingle and fuselage sealing.Radio frequency receiver is installed on the inner peripheral surface of fuselage, and micromotor and radio frequency receiver are by the minicell power supply that is contained in the fuselage.
Described permanent magnet block is equivalent to the intravital magnetic corpusculum of magnetotactic bacteria chain, has magnetic moment, externally can produce magnetic torque under the effect of magnetic field pulse guide field, trends towards the direction of magnetic field pulse guide field.
When forward was connected the electrode of micromotor, micromotor drove afterbody rotating mechanism forward rotation, and then drove periodically forward rotation of compliant tail portions.Otherwise by under the control of computer, when oppositely connecting the electrode of micromotor, swingle will drive the afterbody backward rotation the operator, and environmental liquids retreats robot to robot generation axial thrust backward.
Among the present invention, produce radio frequency transmissions by computer, received by the intravital radio frequency receiver of robot, the rotation direction and the rotating speed of control micromotor again in conjunction with other external control device, are realized the control that microrobot is moved.
2, the external guidance system of microrobot of the present invention comprises magnetic orientation subsystem, imaging subsystems, magnetic steering subsystem and computer control subsystem, wherein the computer control subsystem provides human-computer interaction interface, realizes the control that microrobot is moved by control magnetic orientation, imaging and magnetic steering subsystem.The computer control subsystem is connected magnetic orientation subsystem, imaging subsystems and magnetic steering subsystem as central control board respectively by data/address bus and control bus, finishes go forward side by side line data exchange of the control of other subsystem work state.Each subsystem function and operation principle are described as follows:
2.1 magnetic orientation subsystem
Outside not considering, disturb under the situation in magnetic field, the function of this subsystem is to measure the variation that the permanent magnet block magnetic field space distributes, and is converted into current signal and offers computer, and computer passes through inversion algorithms, calculate permanent magnet block, be the position of microrobot, can realize the continuous position measurement.Simultaneously robot that provides stage by stage in conjunction with imaging subsystems and the relative position between pipeline make operator obtain the relative position of robot by computer real-time.
This subsystem mainly is made of 8 giant magnetoresistances (GMR) pick off, and described pick off is distributed on 8 summits of a virtual cuboid that covers in tested pipeline outside.According to magnetoresistance, the resistivity of giant magnetoresistance can change along with the variation of external magnetic field, and then the electric current that flows through in the resistance under given voltage can change.Change according to this electric current, computer can utilize the magnetic orientation inversion algorithms to obtain the coordinate of permanent magnet block.
The magnetic field that permanent magnet block excites in its surrounding space has the specific regularity of distribution, therefore can determine the position of permanent magnet block by the variation that detects this magnetic field.When the size of permanent magnet block be far smaller than between test point and permanent magnet block apart from the time, permanent magnet block can equivalence be a magnetic dipole, its space magnetic field distributed model can be represented with following formula:
In pcrmeability,
Be the magnetic moment vector of magnetic dipole,
Be the radius vector of magnetic dipole to test point.
2.2 imaging subsystems
This subsystem adopts sophisticated X ray computer tomography technology that search coverage is carried out three-dimensional imaging, consider that pipeline may do small random motion, and the speed and the image taking speed that obtain robot location's information differ bigger, therefore, imaging subsystems carries out the periodicity imaging to pipeline and robot among the present invention, and each width of cloth image is used to the auxiliary guiding that robot is moved in the corresponding cycle.According to the computer tomography principle, the X ray that x-ray source sends passes acceptor and is projected to detector, X-ray detector is received the data for projection relevant with local X ray attenuation quotient and is sent into computer, pass through the image of image reconstruction algorithm reconstruct by computer again about acceptor, be the image of pipeline and robot, can obtain the three-dimensional extension direction and the pipeline size information of pipeline.
This subsystem comprises x-ray source, X-ray detector circumference array, imaging power supply, moving bed, interface circuit and display, wherein, the X-ray detector circumference array is positioned at and the axial vertical plane of moving bed, x-ray source can be done circular scanning in this plane, the imaging power supply is used for to x-ray source and the power supply of X-ray detector circumference array, interface circuit is used to receive raw image data and carries out pretreatment such as filtering, format conversion, then its input computer control subsystem is carried out image reconstruction with synthetic, show by display at last.
During work, acceptor is placed on the moving bed, this bed can be along self axis direction translation, and can carry out little moving be positioned at imaging region so that treat the imaging position in the plane of scanning motion.The X ray that x-ray source sends becomes a very narrow beam behind collimation, x-ray source is that tomography circular scanning is done in the center of circle with the geometric center at imaging position in the plane of scanning motion.This subsystem adopts photodiode as X-ray detector, with several photodiodes with the arranged in form of circumference array on the plane of scanning motion, with scanning circumference concentric, this array position is constant in the imaging process.
This subsystem is on the basis of two dimensional surface imaging, by to the imaging and synthetic respectively of a plurality of continuous tomographies, realizes pipeline and robot are carried out three-dimensional imaging, promptly needs to utilize earlier the backprojection reconstruction algorithm to obtain two dimensional image.When some tomographies are carried out imaging, will treat under the driving of moving bed that at first imaging fault moves to imaging region, x-ray source is done 360 ° of circular scannings with Constant Angular Velocity then.Scanned after the week, x-ray source is got back to original position, wait until that next tomography to be scanned enters the plane of scanning motion after, more next tomography is scanned.After the appointed part been scanned, computer utilizes image processing program raw image data to be handled and reconstructed each width of cloth faultage image, synthesizes the 3-D view of a width of cloth pipeline and robot at last.
2.3 magnetic steering subsystem
Under the cooperation of moving bed, this subsystem can produce the even magnetic field pulse guide field that points to required direction in the central area, and permanent magnet block is implemented the control of deflection guiding, and then realizes the attitude control to microrobot.The direction of magnetic field pulse guide field is obtained by the magnetic steering algorithm, and by interface circuit the magnetic field pulse guide field signal is sent to magnetic steering subsystem power supply.The position of the robot that records according to the magnetic orientation subsystem, and relative position between the pipeline that provides of imaging subsystems and robot, the operator can provide the moving direction of microrobot in real time, acts on permanent magnet block by magnetic field pulse guide field and realizes.Utilize the magnetic steering algorithm, this subsystem can generate the magnetic field pulse guide field along required direction according to the attitude of robot.Magnetic field pulse guide field obtains by pass to adjustable DC current in three groups of Helmholtz coils, and promptly three magnetic field superposition by direction pairwise orthogonal in the space form.This method is simple to operate, can control the attitude of robot effectively, makes it more easily overcome some obstacles such as the space is narrow and small, turning when mobile in pipeline.
The flow process of magnetic steering algorithm comprises: at first, set up unified coordinate system, the pipeline extension bitmap that generates according to imaging subsystems looks like to set up a robot with reference to motion track, and the center outrigger shaft that can choose pipeline is a reference locus; In the effective time of image, the motion track of robot is replaced with the broken line that some discontinuous points are formed by connecting, described discontinuous point i.e. robot location for being recorded by the magnetic orientation subsystem; When determining the direction of magnetic field pulse guide field, when the yardstick of robot is far smaller than the length of pipeline mutually, robot can be regarded as a particle, suppose t=t
0Robot is positioned at p constantly
0(x
0, y
0, z
0), in the scope that magnetic orientation subsystem position resolution allows, elapsed time Δ t, Δ t → 0, microrobot moves to p
1(x
1, y
1, z
1) point, on the reference motion track, finding a bit again, this point is p
1Rectangular projection on the reference motion track calculates the directional derivative of this subpoint place tangential direction on the reference motion track, and by p
0Point points to p
1Directional derivative, calculate the poor of both direction derivative by program, this difference is t=t
0The adjustment in direction value that+Δ t is constantly required; At last this adjustment in direction value is converted into the control parameter of magnetic field pulse guide field, i.e. the correction value of electric current in the coil, computer is sent to magnetic steering subsystem supply unit with this correction value by interface circuit, finally produces required magnetic field pulse guide field.
This subsystem is according to the magnetic field force principle design, promptly is in magnet in the external magnetic field and can be subjected to the effect of power and deflects.In uniform magnetic field, permanent magnet block is subjected to the moment of couple
Effect,
Can be expressed as
In the formula
Be magnetic moment, equal the magnetization intensity vector of magnetic piece
Integration on the magnetic piece volume numerically has P=∫
vMdv,
Magnetic flux density vector for the external magnetic field.When the direction in magnetic piece magnetic field and external magnetic field quadrature, the moment of couple
Maximum.
This subsystem is made up of the Helmholtz coil and the supply unit of three groups of mutually orthogonals, can produce uniform magnetic field in the central area, and every group of coil is made of two pairs of circular coils parallel to each other again, and the spacing between the two pairs of coils equals coil radius.By the regulating winding electric current, the magnetic induction of magnetic field pulse guide field
All adjustable continuously on numerical value and direction.The magnetic field pulse guide field control parameter that the supply unit receiving computer is tried to achieve is adjusted the magnetic induction that every group of coil produces
I=x, y, z represents three components in the rectangular coordinate system in space respectively.To three magnetic-field components do vector superposed after, obtain the magnetic induction that leads
According to Biot Savart law, the magnetic field that Helmholtz coil produces is
In the formula, I is a current intensity in the coil,
Be little line element on the coil
The magnetic field that is produced,
Be little line element
Radius vector with respect to interested position.
2.4 computer control subsystem
This subsystem is the signal processing and the control centre of the external guidance system of robot, is made up of a computer and interface circuit.This subsystem by with magnetic orientation subsystem, imaging subsystems, magnetic steering subsystem and RF transceiver cooperating, control robot translational speed and direction.Under of the combination drive of active screw drives in conjunction with the control of external magnetic field attitude, can realize the various control strategy, and therefrom find out optimum control strategy, robot is moved according to the track of expectation.
This subsystem connects magnetic orientation subsystem, imaging subsystems and magnetic steering subsystem by interface circuit, is responsible for date processing and communicates by letter.Interface circuit mainly comprises a slice analog-digital converter AD9874, a slice digital signal processor TMS320f2812, a slice PLD EPM7128AETC100-10 and a slice digital to analog converter DAC7625.Analog-digital converter be responsible for to the analog input data amplify, analog digital conversion and filtering, the output digital signal is to digital signal processor, digital to analog converter is responsible for computer-generated data signal and control signal are converted to analogue signal, and exports to other subsystems.Conversion when digital signal processor is responsible for that raw image data carried out quick Fourier, the devices such as analog-digital converter in the PLD interface circuit are implemented logic control, comprise register parameters setting, interrupt management etc.
Work process of the present invention is summarized as follows:
At first, the operator controls moving bed and will be examined pipeline and move to imaging region, and robot is put to pipeline top.Then, imaging subsystems carries out imaging to first section pipeline and shows, sets up the required unified coordinate system of magnetic orientation and magnetic steering, determines the robot initial coordinate.The operator makes radiofrequency launcher send the micromotor enabling signal by computer, is received by the intravital radio frequency receiver of robot, makes robot enter holding state.In the robot moving process, the operator adjusts the moving direction and the speed of robot continuously by external guidance system, and the control robot moves according to the bearing of trend of pipeline.When robot needs then by radiofrequency signal control, to make the intravital micromotor counter-rotating of robot when mobile backward, drive robot and move backward.At last, when robot finishes the task of seeking of giving, need the control robot oppositely to withdraw from pipeline, similar during with forward motion, the operator oppositely moves it by control volume external orientation system, withdraws from pipeline.
The present invention adopts initiatively, and screw propulsion has solved the contradiction between robot volume microminiaturization and the mobile motility, in the hope of playing a significant role to a certain extent in conjunction with the combination drive mode of magnetic field pulse guide field attitude control in the inside of human body diagnosis and treatment.In addition, the present invention also can be applicable to the detection of the non magnetic tiny pipeline of industrial equipment.The present invention realizes no wound diagnosis and treatment or detection by technology such as robotics, magnetic orientation and guiding technique, tomography technology, data processing technique and automatic control are combined.
In addition, in this combination drive mode, the present invention adopts the method in permanent magnet block magnetic field in giant magnetoresistance (GMR) the sensor microrobot, and is simpler, more accurate than existing other magnetic positioning method.
Description of drawings
Fig. 1 is a microrobot internal structure sketch map; Among the figure: 1 microrobot, medium in 2 pipelines, 3 pipelines, 1a fuselage, 1b permanent magnet block, 1c casing, 1d radio frequency receiver, 1e minicell, 1f micromotor, 1g worm screw, 1h afterbody rotating mechanism, 1i afterbody.
Fig. 2 forms block diagram for the external guidance system of the present invention; Among the figure: 4 magnetic steering subsystems, 5 magnetic orientation subsystems, 6 imaging subsystems, 7 computer control subsystems.
Fig. 3 is a magnetic steering subsystem sketch map; Among the figure: 4a x direction Helmholtz coil, 4b y direction Helmholtz coil, 4c z direction Helmholtz coil, 4d magnetic steering supply unit, 8 persons under inspection, 9 moving beds.
Fig. 4 is a magnetic orientation subsystem sketch map; Among the figure, 5a giant magnetoresistance, 5b magnetic orientation supply unit, 5c lead.
Fig. 5 is the imaging subsystems sketch map; Among the figure, 6a detector circumference array, 6b circular scanning track, 6c X ray emitter, 6d imaging supply unit.
Fig. 6 is a magnetic orientation inversion algorithms flow chart;
Fig. 7 is the magnetic steering algorithm flow chart.
The specific embodiment
Further specify the present invention below in conjunction with the drawings and the specific embodiments.
The internal structure of microrobot 1 illustrates that as shown in Figure 1 its front end is smooth, and outer wall does not have projection or groove, and shell adopts, and medical material slick, that have certain toughness and flexibility coats, and is less with wall frictions in the pipeline 2.Permanent magnet block 1b outer peripheral face has helicla flute, with airtight cooperation of helicla flute of fuselage 1a interior forward end.Afterbody rotating mechanism 1h and afterbody 1i form a fixed connection by the swingle that stretches out in fuselage.Afterbody rotating mechanism 1h is made up of worm screw 1g, worm gear, cam, swingle, base plate, hinge, permanent magnet and solenoid, worm screw 1g is installed on the micromotor 1f main shaft, worm gear and cam coaxial arrangement, the rotating shaft of worm gear is installed on the base plate, this base plate sticking is on fuselage, swingle is installed on the hinge, hinges fixing fixes on the housing of micromotor, one end of swingle is fixedlyed connected with afterbody, its other end is shelved on the cam, permanent magnet is fixed on the swingle, and solenoid is positioned at the outside of permanent magnet.That afterbody 1i adopts is slick, pliability preferably biomedical material make.Radio frequency receiver 1d is installed on the inner peripheral surface of fuselage 1a rear end.Micromotor 1f and radio frequency receiver 1d are by the minicell 1e power supply that is contained in the fuselage 1a, and this battery 1e is installed on the inner peripheral surface of fuselage 1a rear end, position and radio frequency receiver 1d symmetry.
The speed that moves axially of microrobot 1 is controlled by radiofrequency launcher and radio frequency receiver 1d, and radiofrequency launcher belongs to the part of computer control subsystem 7, is integrated on the interface circuit.The duty of radio frequency receiver 1d control micromotor 1f comprises its rotating speed and power connection polarity, and micromotor 1f is connected with afterbody rotating mechanism 1h by worm screw 1g, drives microrobot 1 forward direction or afterwards to mobile in the medium 3 in pipeline.
Permanent magnet block 1b adopts high-performance rare-earth permanent magnet material to make, as rubidium ferrum B permanent magnetic material etc.The magnetic field that magnetic orientation subsystem 5 is excited by perception permanent magnet block 1b is measured in real time to the position of microrobot 1 in pipeline 2.Magnetic steering subsystem 4 can inspire the magnetic field pulse guide field along required direction in permanent magnet block 1b region, and permanent magnet block 1b is subjected to the effect of magnetic field pulse guide field to be forced to be orientated along magnetic field pulse guide field, so that microrobot 1 moves along expected path.
As shown in Figure 2, the external guidance system of the present invention is made up of magnetic steering subsystem 4, magnetic orientation subsystem 5, imaging subsystems 6 and computer control subsystem 7.
Logical relation shown in Figure 2 comprises: imaging subsystems 6 is treated imaging region and is carried out some faultage image scannings, and the gained raw image data is admitted to computer control subsystem 7 and carries out image reconstruction and demonstration; 5 pairs of microrobots of magnetic orientation subsystem, 1 inner permanent magnetic magnetic piece 1b positions by magnetic field, and the signal that gained contains positional information is admitted to computer control subsystem 7 to carry out the position by the magnetic orientation inversion algorithms and rebuild; Computer control subsystem 7 produces the magnetic field pulse guide field control signals and also is passed to magnetic steering subsystem 4, to microrobot 1 control of leading; Computer control subsystem 7 sends RF control signal to microrobot 1.
In the magnetic steering subsystem 4 as shown in Figure 3, comprise three groups of Helmholtz coil 4a, 4b and 4c, during design coil geometric parameter, consider and do not make it produce constriction when person under inspection 8 sent into magnetic steering subsystem 4 by moving bed 9, three groups of Helmholtz's circular coil 4a, 4b and 4c equal diameters, every group of coil pairwise orthogonal, and form 0.6 meter of spacing by two symmetric coils of mirror image.Magnetic steering supply unit 4d is used for supplying adjustable DC current to coil 4a, 4b and 4c under the control of computer control subsystem 7.
In the magnetic orientation subsystem 5 as shown in Figure 4, adopt 8 giant magnetoresistance 5a, be distributed on 8 summits of a virtual cuboid that covers in tested pipeline 2 outsides, to measure the spatial distribution in permanent magnet block 1b magnetic field in the microrobot 1.According to the result who records, obtain the position of microrobot 1 by inversion algorithms.Magnetic orientation subsystem supply unit 5b is responsible for providing constant DC voltage to giant magnetoresistance 5a, lead 5c is used for giant magnetoresistance 5a and supply unit 5b are linked to be a connection in series-parallel loop, be about to giant magnetoresistance 5a and be divided into two groups, adopt series system in every group, adopt parallel way between group.
Moving bed 9 is non magnetic bed, needs according to fault imaging subsystem 5 and magnetic steering subsystem 2, and consider the features of movement of microrobot 1 in pipeline 2, its forms of motion for based on axial translation, double can be in perpendicular to the plane of person under inspection's 8 axis directions micrometric displacement, promptly possesses three degree of freedom, area-of-interest is delivered to effective magnetic field pulse guide field zone or imaging region.
Magnetic orientation inversion algorithms flow chart is as shown in Figure 6 at first determined unified coordinate system, provides the space coordinates of each giant magnetoresistance 5a in coordinate system; According to pipeline 2 geometries that imaging subsystems 6 provides, the geometrical central axis of choosing pipeline 2 as robot 1 with reference to motion track; For given permanent magnet block 1b, the magnetic induction value of each giant magnetoresistance 5a position when calculating on it is positioned at reference to motion track every bit by (1) formula, and predict the measured value of each giant magnetoresistance 5a, set up one tension position-magnetic field corresponding data table; Then, make under the cooperation of robot 1 external control system robot 1 in pipeline 2 as far as possible along moving with reference to motion track, and in moving process the measured value of each giant magnetoresistance 5a of continuous record; At last, by each measured value, binding site-magnetic field corresponding data table carries out curve fitting, and obtains corresponding to each apparent position of robot 1 constantly.
Magnetic steering algorithm flow chart as shown in Figure 7, at first, pipeline 2 extension bitmaps that generate according to imaging subsystems 6 look like to set up a robot 1 with reference to motion track, and the geometrical central axis of choosing pipeline 2 is a reference locus.In the effective time of present image, a series of discontinuous robot location's coordinate that magnetic orientation subsystem 5 is recorded couples together and obtains a dog leg path.The principle of judging the magnetic field pulse guide field direction is as follows: when the size of robot 1 is far smaller than the length of pipeline, can regard robot 1 as particle, suppose t=t
0Robot 1 is positioned at p constantly
0(x
0, y
0, z
0), under the situation that is no more than magnetic orientation subsystem position resolution, elapsed time section Δ t, Δ t → 0, robot 1 moves to p
1(x
1, y
1, z
1) point; On the reference motion track, look for 1 p '
1, this point is p
1The rectangular projection of point on the reference motion track calculates with reference to motion track then at p '
1The directional derivative of some tangential direction, and by p
0Point points to p
1The directional derivative of point; Calculate the poor of above-mentioned two directional derivatives, this difference is the magnetic field pulse guide field adjustment in direction value of being asked.At last the adjustment in direction value is converted into corresponding to p
1The magnetic field pulse guide field control parameter of point, and be sent to the supply unit 4d of magnetic steering subsystem 4 by interface circuit, finally make robot 1 as far as possible along moving with reference to motion track.
Concrete workflow of the present invention is:
1. at first open computer control subsystem 7, and open the interface circuit that is connected with microrobot 1, magnetic steering subsystem 4, magnetic orientation subsystem 5 and imaging subsystems 6.
2. open imaging subsystems 6, under the cooperation of moving bed 9, adjust and treat imaging region and the interplanar relative position of X-ray scanning, with corresponding tomography, promptly the top of pipeline 2 is adjusted to the imaging visual field.
3. open magnetic orientation subsystem 5, add fixedly voltage for giant magnetoresistance 5a series-parallel circuit.Microrobot 1 is positioned over pipeline 2 tops, and computer control subsystem 7 sends the radio frequency receiver 1d that the radio frequency micromotor controls signal to microrobot 1 inside, and under radio frequency receiver 1d control, makes micromotor 1f enter holding state.Next, magnetic orientation subsystem 5 is measured the initial position of microrobot 1, and data is sent into computer control subsystem 7 handle.
Utilize the magnetic orientation algorithm, calculate the initial position of permanent magnet block 1b, the i.e. initial position of microrobot 1 by computer control subsystem 7.It should be noted that, 6 pairs of pipelines of imaging subsystems 2 are periodically to carry out with the work of microrobot 1 imaging, and the relative position of 2 of microrobot 1 and pipelines is to combine with each two field picture by the position that 5 pairs of microrobots 1 of magnetic orientation subsystem are recorded in real time to obtain.
4. in conjunction with the pipeline 2 and microrobot 1 relative position that obtain in the 3rd step, the detection purpose that the operator will realize according to microrobot 1 determines its expectation moving direction.And, utilize the magnetic steering algorithm according to this desired orientation, calculate one group of magnetic induction by computer control subsystem 7 about this desired orientation,
The total magnetic induction that obtains after the stack
Direction be microrobot 1 moving direction of expectation.
5. open magnetic steering subsystem 4.Pass through interface circuit, computer control subsystem 5 is controlled the supply unit 4d that parameter is sent to magnetic steering subsystem 4 with the magnetic field pulse guide field that obtains in the 4th step, and this supply unit 4d controls the variable quantity that parameter transformation is a current intensity among three groups of Helmholtz coil 4a, 4b and the 4c with magnetic field pulse guide field.According to Ampere circuital theorem,
Passing to unidirectional current in coil fails to be convened for lack of a quorum inspire constant magnetic field in its surrounding space.Among the present invention, utilize the size and the direction of DC current in supply unit 4d control 4a, 4b, three groups of coils of 4c, obtain required even magnetic field pulse guide field in the central area of magnetic steering subsystem 4
6. magnetic field pulse guide field externally
Under the effect, the permanent magnet block 1b in the microrobot 1 will produce magnetic torque, force permanent magnet block 1b to be orientated along the magnetic field pulse guide field direction.Simultaneously, computer control subsystem 7 starts micromotor 1f by RF transceiver, drives afterbody rotating mechanism 1h and afterbody 1i by worm screw 1g, and microrobot 1 is advanced along assigned direction.
7. the continuous control of moving direction and speed in microrobot 1 moving process.Because the inside dimension of pipeline 2 and the uncertainty of bearing of trend, must adjust the moving direction and the speed of microrobot 1 at any time, just need the operator to pass through the relative position information that microrobot 1 external guidance system obtains pipeline 2 and microrobot 1 constantly, and make microrobot 1 finally move to assigned address by external alignment control system.
8. work as microrobot 1 and finish the task of seeking of giving, perhaps need when mobile backward because run into reason such as obstacle, similar during with forward motion, computer control subsystem 7 is launched RF driving signal to microrobot 1 by radiofrequency launcher, make micromotor 1f drive afterbody 1i backward rotation, can realize making microrobot 1 to move backward.And the same when advancing, fallback procedures also need be carried out under the control of external alignment control system.
Claims (6)
1, a kind of microrobot, the inner hollow out of fuselage [1a], be furnished with radio frequency receiver [1d], minicell [1e] and micromotor [1f], it is characterized in that having a helicla flute that is used to arrange permanent magnet block [1b] on fuselage [1a] the interior forward end side face, permanent magnet block [1b] outer peripheral face has helicla flute, with fuselage [1a] interior forward end airtight cooperation of circumferential helical; Fuselage [1a] bottom has an axially extending bore; Afterbody rotating mechanism [1h] is fixedlyed connected by the swingle that stretches out in fuselage [1a] through hole with afterbody [1i], and swingle and fuselage [1a] adopt the sealing of high resiliency diaphragm seal; Microrobot [1] front end is smooth, and outer wall surface does not have projection or groove; Radio frequency receiver [1d] is installed on the inner peripheral surface of fuselage [1a] rear end, and micromotor [1f] is powered by minicell [1e] with radio frequency receiver [1d], and this battery [1e] is installed on the inner peripheral surface of fuselage [1a] rear end, position and radio frequency receiver [1d] symmetry; Afterbody rotating mechanism [1h] is connected with micromotor [1f] main shaft by worm screw [1g], drives microrobot [1] and moves forward or backward; Described afterbody rotating mechanism [1h] is by worm screw [1g], worm gear, cam, swingle, base plate, hinge, permanent magnet and solenoid are formed, worm screw [1g] is installed on micromotor [1f] main shaft, worm gear and cam coaxial arrangement, the rotating shaft of worm gear is installed on the base plate, described base plate sticking is on fuselage [1a], swingle is installed on the hinge, described hinges fixing fixes on the housing of micromotor [1f], one end of swingle is fixedlyed connected with afterbody [1i], the other end of swingle is connected with cam, permanent magnet is fixed on the swingle, and solenoid is positioned at the outside of permanent magnet.
2, a kind of external guidance system that is used for the described microrobot of claim 1 is characterized in that comprising magnetic steering subsystem [4], magnetic orientation subsystem [5], imaging subsystems [6] and computer control subsystem [7]; Computer control subsystem [7] is connected with microrobot [1], magnetic steering subsystem [4], magnetic orientation subsystem [5] and imaging subsystems [6] respectively; Imaging subsystems [6] is treated search coverage and is carried out continuous fault plane scanning, the gained raw image data is admitted to computer control subsystem [7] and carries out image reconstruction and demonstration, magnetic orientation subsystem [5] carries out magnetic orientation to the inner permanent magnet block [1b] of microrobot [1], the gained original position-information is admitted to computer control subsystem [7] and carries out the position reconstruction, computer control subsystem [7] produces the guiding control information and is passed to magnetic steering subsystem [4], magnetic steering subsystem [4] is to microrobot [1] control of leading, and computer control subsystem [7] sends RF control signal to microrobot [1].
3,, it is characterized in that in the described magnetic steering subsystem [4] that three groups of Helmholtz coils [4a, 4b, 4c] are axially symmetric structure, equal diameters, pairwise orthogonal according to the external guidance system of the described microrobot of claim 2; Every group of coil is made up of two pairs of circular coils parallel to each other respectively.
4, according to the external guidance system of the described microrobot of claim 2, it is characterized in that in the described magnetic orientation subsystem [5], adopt 8 giant magnetoresistances [5a], the branch two layers of cloth places the outside of pipeline [2], two-layer layout parallel to each other before and after promptly on person under inspection's axis direction, dividing, change with the interior permanent magnet block DISTRIBUTION OF MAGNETIC FIELD of real-time detection microrobot [1], and testing result and known Distribution of Magnetic Field data compared, obtain the positional information of microrobot [1] by the magnetic orientation inversion algorithms.
5, according to the external guidance system of the described microrobot of claim 3, it is characterized in that carrying out the position by the magnetic orientation inversion algorithms by described computer control subsystem [7], to rebuild flow process as follows: at first determine unified coordinate system, provide the space coordinates of each giant magnetoresistance [5a] in coordinate system; According to pipeline [2] geometry that described imaging subsystems [6] provides, the geometrical central axis of choosing pipeline [2] as robot [1] with reference to motion track; For given permanent magnet block [1b], the magnetic induction value of each giant magnetoresistance [5a] position when calculating on it is positioned at reference to motion track every bit, and predict the measured value of each giant magnetoresistance [5a], set up a tension position one magnetic field corresponding data table; Then, make under the cooperation of the external control system of robot [1] robot [1] in pipeline [2] as far as possible along moving with reference to motion track, and in moving process the measured value of each giant magnetoresistance of continuous record [5a]; At last, by each measured value, binding site one magnetic field corresponding data table carries out curve fitting, and obtains the apparent position corresponding to each moment robot [1].
6, according to the external guidance system of the described microrobot of claim 2, it is characterized in that described computer control subsystem [7] is as follows by the flow process of the moving direction of magnetic steering algorithm controls robot: at first, pipeline [2] extension bitmap that generates according to imaging subsystems [6] looks like to set up a robot [1] with reference to motion track, and the geometrical central axis of choosing pipeline [2] is a reference locus; In the effective time of present image, a series of discontinuous robot location's coordinate that magnetic orientation subsystem [5] is recorded couples together and obtains a dog leg path; When the size of robot [1] is far smaller than the length of pipeline, robot [1] can be regarded as particle, suppose t=t
0Robot [1] is positioned at p constantly
0(x
0, y
0, z
0), under the situation that is no more than magnetic orientation subsystem position resolution, elapsed time section Δ t, Δ t → 0, robot [1] moves to p
1(x
1, y
1, z
1) point; On the reference motion track, look for 1 p '
1, this point is p
1The rectangular projection of point on the reference motion track calculates with reference to motion track at p '
1The directional derivative of some tangential direction, and by p
0Point points to p
1The directional derivative of point; Calculate the poor of above-mentioned two directional derivatives again, this difference is the magnetic field pulse guide field adjustment in direction value of being asked; At last the adjustment in direction value is converted into corresponding to p
1The magnetic field pulse guide field control parameter of point, and be sent to the supply unit [4d] of magnetic steering subsystem [4] by interface circuit, make robot [1] as far as possible along moving with reference to motion track.
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| CNB2006101654959A CN100571606C (en) | 2006-12-21 | 2006-12-21 | A kind of microrobot and external guidance system thereof |
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