CAJ | 학술논문

胶囊内窥镜克服了传统内窥镜给患者带来不适和痛苦的缺点，但胶囊内窥镜也存在不可主动运动容易错过病灶部位导致检测效率低的问题。针对这个问题，我们借鉴趋磁细菌的运动方式提出了一种主动型的胶囊内窥镜微机器人，并分为两部分验证了方案的可行性。胶囊微机器人的运动采用电机带动螺旋桨的驱动方式，并由外部导向磁场实现其运动方向的控制。图像采集部分，选用MCU控制摄像芯片从采集图像，并进行无线发送。体外的图像数据接收端，并将接收的图像上传到PC机上进行显示。实验结果表明，本系统运动控制部分可以实现方向及速度的控制，图像获取部分可得到较清晰的图像。下一步我们将进行综合设计，做出整机系统，该系统将具有结构简单、体积小、功耗低的特点，为肠胃道疾病的临床诊断提供一条可行方案。
효낭내규경극복료전통내규경급환자대래불괄화통고적결점，단효낭내규경야존재불가주동운동용역착과병조부위도치검측효솔저적문제。침대저개문제，아문차감추자세균적운동방식제출료일충주동형적효낭내규경미궤기인，병분위량부분험증료방안적가행성。효낭미궤기인적운동채용전궤대동라선장적구동방식，병유외부도향자장실현기운동방향적공제。도상채집부분，선용MCU공제섭상심편종채집도상，병진행무선발송。체외적도상수거접수단，병장접수적도상상전도PC궤상진행현시。실험결과표명，본계통운동공제부분가이실현방향급속도적공제，도상획취부분가득도교청석적도상。하일보아문장진행종합설계，주출정궤계통，해계통장구유결구간단、체적소、공모저적특점，위장위도질병적림상진단제공일조가행방안。
Wireless capsule endoscopes overcome the shortcoming of troditional endoscopes which can give the patients great pain. However, wireless capsule endoscopes have their own weaknesses such as its passive movement may make it is easy to miss the important part and which wil makes it low effcient. Inspired by the magnetotactic bacteria motion, we proposed a kind of active wireless capsule endoscope microrobt. It was devided two part to verify the feasibility. For the movement control, the capsule endoscope microrobot is driven by the propeler which is ifxed with the axis of a motor, and its motion direction is controled by the outside magnetic ifeld. For the image capture, we used MCU to control the camera chip to obtain the images and transimit them by wireless signal. And the images are received and transmited to PC for diagnosis. The experiments results show that the capusel endoscope microrobot movement can be controled and we can obtain the images. Next, we wil design the system as one, to realizes it with smal size and low power, and it wil give one feasible scheme for cilinc diagnosis for disease of gastrointestinal tract .