适应胃肠全域检查的主动胶囊机器人位姿控制

Gastrointestinal screening is an important way to prevent cancers in gastrointestinal tract. However, entirely covered, high-quality, and high-efficiency screening is difficult to realize due to the complicated and area dependent biological properties in the gastrointestinal lumens. Almost all the present capsule robots in the successful clinical applications move in a passive locomotion style, which means the motion of the capsules is not controllable. Active capsule robots are capable of strong locomotion. However, related research on active capsule robots is in the beginning stage, and many basic scientific issues are imperative to be solved. In particular, accurate position and orientation control is to be necessarily solved in order to realize the high-efficiency and whole-tract gastrointestinal screening and elaborative screening for local suspected lesion areas..Exemplifying the control of external magnetically guided active capsule robots, in this project, accurate localization for capsule robots based on multi-source information fusion will be studied; fast and optimized reconstruction of gastrointestinal tract with vast information will be studied, and based on the reconstructed information, the auxiliary path navigation strategies will be established; particularly, complex position and orientation control of the capsule robots based on analytical magnetic interaction model will be studied. This project is aimed at exploring the cutting-edge and advanced theories and methods for complex position and orientation control of active capsule robots, pushing forward the theoretical and technical development of the active capsule endoscopic robots, contributing to laying the foundation of entirely covered, high-quality, and high-efficiency gastrointestinal screening.

胃肠道检查是胃肠癌防治的重要手段。但是，胃肠腔内生物特性复杂且差别很大，很难实现全面、高质、高效的检查。目前应用于临床的胶囊机器人几乎都是依靠胃肠蠕动被动前进，其运动不可控制。主动胶囊机器人能够具有更好的运动能力，但是，相关研究刚起步，基础科学问题亟待解决。尤其，精确的位姿控制是胶囊对胃肠区域进行高效全区域检查和可疑病灶区域重点检查必须解决的问题。 .本项目以外部磁引导主动胶囊机器人控制为例，研究基于多源传感信息融合的微型胶囊精确定位；研究在大信息量条件下，胃肠区域快速重建和优化方法，建立基于重建信息的辅助路径导航策略；研究基于磁交互解析模型的高精度胶囊机器人复杂姿态控制。项目旨在探索主动胶囊机器人复杂位姿控制的前沿理论和方法，推动主动内窥镜胶囊机器人理论和技术发展，为实现全面、高质、高效的胃肠道检查奠定基础。

胃肠道检查是胃肠癌防治的重要手段。但是，胃肠腔内生物特性复杂且差别很大，很难实现全面、高质、高效的检查。目前应用于临床的胶囊机器人几乎都是依靠胃肠蠕动被动前进，其运动不可控制。主动胶囊机器人能够具有更好的运动能力，但是，相关研究刚起步，基础科学问题亟待解决。尤其，精确的位姿控制是胶囊对胃肠区域进行高效全区域检查和可疑病灶区域重点检查必须解决的问题。本项目以外部磁引导主动胶囊机器人控制为例，研究基于多源传感信息融合的微型胶囊精确定位；研究在大信息量条件下，胃肠区域快速重建和优化方法，建立基于重建信息的辅助路径导航策略；研究基于磁交互解析模型的高精度胶囊机器人复杂姿态控制。项目旨在探索主动胶囊机器人复杂位姿控制的前沿理论和方法，推动主动内窥镜胶囊机器人理论和技术发展，为实现全面、高质、高效的胃肠道检查奠定基础。