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胶囊机器人无线能量传输系统设计

Design of wireless power supply system for robotic capsule

作者: 杨凯  颜国正  高晋阳 
单位:上海交通大学电子信息与电气工程学院医学精密工程与智能仪器研究所(上海200240)
关键词: 胶囊机器人;无线能量传输;发射线圈;三维正交接收线圈;绕线;能量传输效率 
分类号:R318.6
出版年·卷·期(页码):2016·35·5(510-515)
摘要:

目的 胶囊内镜机器人受尺寸限制和安全性等因素的影响,传统锂电池或拖缆式供能已不能满足要求,如何提供有效的供能方式成为其发展的重大瓶颈。随着无线供能方式的提出,基于电磁感应的无线能量传输被视为一种有效解决该问题的供能方式。方法 设计了一个在任意姿态下接收线圈均能高效稳定供能胶囊机器人的无线能量传输系统。首先设计了符合赫姆霍兹线圈结构的双螺线管对线圈作为发射线圈,再结合机器人结构特征设计新型的磁芯结构和绕线方式,构成新型三维正交接收线圈。最后在由发射线圈和体外控制电路组成的可调谐发射平台上进行了0~360°范围内系统有效接收效率的测试。结果 该系统能量传输效率在线圈任意姿态不低于4.95%,解决了因接收线圈姿态变化导致的供能不足问题。结论 在输入功率为10.88W条件下能提供最少544mW的能量,实验验证了该系统的可行性。

Objective Robotic capsule has gained immense attention of medical scientists and researchers in recent years, and the technology about robotic capsule has gained great improvements. However, affected by the limitation of size and biosecurity issues, power supply by Li battery or wire is deficient and effectively providing power has become a bottleneck which severely affects its development. Wireless power transmission based on inductive coupling is considered as a practical way to make a breakthrough in this field. Methods In this paper, a wireless power supply system for robotic capsule is presented, which could provide sufficient power at any orientation of the receiving coil. First, a transmitting coil consisted of two solenoid coils is presented, the structure of which is in accordance with the Helmholtz coil. Also, a three-dimensional orthogonal receiving coil with novel wire-wrapping and magnetic core is proposed. To check the effectiveness of the receiving coil, transmission efficiency of the wireless power transmission system from 0 to 360°is analyzed. Results Actual experiments are conducted on the platform consisted of the transmitting coil and in vitro transmitting circuit to find that the minimum transmission efficiency is 4.95% at any orientation between receiving coil and magnetic field, thus solve the problem of the inadequate power supply caused by the orientation change of the robotic capsule. Conclusions The system could provide more than 544mW power with 10.88W power input, which confirms the feasibility of the wireless power transmission system.

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