新型胃肠道机器人无线能量传输系统的设计与实现
收稿日期: 2021-06-25
网络出版日期: 2022-08-26
基金资助
国家自然科学基金项目(81971767);上海市自然科学基金项目(21ZR1429900);上海市科研项目(19441910600);上海市科研项目(19441913800);上海市科研项目(19142203800);上海交通大学医疗机器人研究院项目(IMR2018KY05)
Design and Implementation of a New Type of Gastrointestinal Robot Wireless Power Transmission System
Received date: 2021-06-25
Online published: 2022-08-26
为确保微型胃肠道机器人在人体内部稳定运行,研制了一种新型无线供能系统.该系统基于电磁场谐振原理,参考电磁场理论计算和纺锤形三维接收线圈模型的优化结果,并创新性地结合了肠道机器人的工作能耗、姿态稳定性、供能稳定性、尺寸设计等要求.其中,发射线圈采用4组螺线管线圈产生均匀交变磁场,优化后的发射线圈通过与集成于肠道机器人内部的接收线圈互感,可产生稳定大于500 mW的能量用于机器人工作.经过相关实验验证,该无线供能系统的性能满足机器人在肠道内复杂环境的工作需求.
关键词： 无线能量传输; 三维接收线圈; 组合螺线管式发射线圈
付文浩, 姜萍萍, 颜国正, 彭羽其, 费倩, 庄浩宇 . 新型胃肠道机器人无线能量传输系统的设计与实现[J]. 上海交通大学学报, 2022 , 56(8) : 1057 -1066 . DOI: 10.16183/j.cnki.jsjtu.2021.228
In order to ensure the stable operation of the miniature gastrointestinal robot inside the human body, a new type of wireless power transmission (WPT) system is presented. To fulfill the requirements of the work energy consumption, posture stability, energy supply stability, and size limitation of the intestinal robot, the design refers to the calculation of electromagnetic field theory and the optimization results of the spindle-shaped three-dimensional receiving coil model which based on the principle of electromagnetic field resonance. Accordingly, the transmitting coil adopts four sets of solenoid coils to generate a uniform alternating magnetic field. With the receiving coil integrated inside, the optimized transmitting coil can generate a stable energy greater than 500 mW for a robot to work through mutual inductance. Relevant experimental verification indicates that performance of the wireless energy supply system satisfies the working requirements of the robot in the complex environment inside the intestine.
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