磁控胶囊机器人与蠕动肠道的摩擦学特性研究

Non-invasive diagnosis and treatment technology is the future direction of the development of human medicine. With the successful development of remote-controlled capsule endoscopy, the capsule robot becomes an important means to achieve non-invasive diagnosis and treatment in the human gastrointestinal tract. The in-depth study of the tribological properties between capsule robot and intestine is an important theoretical significance for the optimization of capsule robots, precise control of external magnetic fields, and non-invasive diagnosis and treatment. At present, the research on the tribological problems between capsule robot and intestine are based on the non-magnetic field control and are mainly aimed at the translational motion of the conventional cylindrical robot under the condition of no peristalsis in the intestine. Considering physiological peristalsis is one of the most important features of the human intestine, the experimental apparatus for the friction test of the magnetically controlled capsule robot moving inside the peristaltic intestine will be developed in this project. For three types of magnetically controlled capsule robots (conventional cylindrical robots, outer spiral capsule robots and inner spiral capsule robots), the relationship between the tribological properties of the frictional resistance, frictional torque, friction coefficient and intestinal wear degree and the system factors such as robot parameters, intestinal characteristics and magnetic field parameters will be studied systematically when the capsule robot rotates and moves in the peristaltic intestine. The transformation mechanism of the lubrication state between the magnetically controlled capsule robot with small diameters and the intestine will be explained, a complete prediction model of the frictional force of the capsule robot will be established, and the regulation mechanism in the magnetic field will be revealed when the capsule robot running without damage.

无创诊疗技术是人类医学发展的未来方向，随着遥控胶囊内镜研制成功，胶囊机器人成为一种可以在人体胃肠道内实现无创诊疗的重要手段，而深入研究胶囊机器人与肠道的摩擦学特性对于胶囊机器人的结构优化、外磁场精确控制和无创诊疗具有重要的理论指导意义。目前，胶囊机器人与肠道之间摩擦学问题的研究都是基于无磁场环境，并且主要是针对无蠕动肠道内常规圆柱机器人的平移运动。考虑到生理蠕动是人体肠道重要特征之一，本项目自行研制模拟蠕动肠道的磁控胶囊机器人摩擦试验台，系统研究三类磁控胶囊机器人（常规圆柱机器人、外螺旋胶囊机器人和内螺旋胶囊机器人）在蠕动肠道内旋转和平移共存时的摩擦阻力、阻力矩、界面摩擦系数和肠道损伤程度等摩擦学特性与胶囊机器人参数、肠道特性和磁场参数等系统因素的关系，阐述小直径磁控胶囊机器人和蠕动肠道之间润滑状态转化的机理，建立胶囊机器人完备的摩擦力预测模型，揭示胶囊机器人无损伤运行的磁场调控机制。

无创诊疗技术是人类医学发展的未来方向，胶囊内镜（即胶囊机器人）已成为当前胃肠道疾病无创或微创检查的重要手段。考虑到胶囊机器人与肠道之间摩擦学问题的现有研究主要是针对无磁场和肠道无蠕动的环境，本项目研制了胶囊机器人磁驱动系统和胶囊机器人与蠕动肠道的摩擦特性测试试验台，理论和实验研究了胶囊机器人驱动磁场和磁力的数学模型、符合生物体肠道的本构模型、符合实际状况的摩擦力模型以及胶囊机器人与蠕动肠道的摩擦力模型，进一步研制了磁控胶囊机器人管内流体流场测量试验台，并理论和实验研究了胶囊机器人检查时在充满医用硅油的肠道内运行时综合性能指标的影响因素及最优参数设计。项目主要取得了如下研究成果：. （1）永磁体法驱动的胶囊机器人所受的驱动磁力与胶囊机器人和外磁体间的距离成反比，并且随着两者距离增大，磁力降低较快，外磁体和胶囊机器人内磁铁的尺寸均与磁力成正比。. （2）生物体肠道的本构模型适合采用粘-超弹本构模型；当磁控胶囊内镜临床检查时，宜采用首创的胶囊机器人与蠕动肠道不同中心轴时的摩擦力数学模型；胶囊机器人在肠道内的摩擦力与胶囊机器人外径密切相关，胶囊机器人外径越大，其摩擦力上升较快，控制检查前肠道内水的摄入量可以改变肠道内径尺寸，进而调节胶囊机器人所受的摩擦力大小；胶囊机器人在蠕动肠道内运行时的摩擦力大小符合正弦函数规律，降低摩擦力的方法是胶囊机器人以肠道蠕动波速度运行。. （3）胶囊机器人综合性能指标-运行稳定性、通过肠道能力和对肠道的损伤性的影响因素主要有肠液粘度、肠道直径、机器人平移速度和旋转速度，而肠液粘度的影响作用最大，因此，胶囊内镜对胃肠道检查时，服用的二甲硅油散和纯净水比例将影响胶囊内镜在肠道内的运行性能，通过外磁场改变胶囊机器人运行参数也可以调整胶囊机器人综合性能指标。. 本项目研究的重要意义在于为胶囊机器人外部磁场精确控制建立力学模型，并找到胶囊机器人减少对肠道组织损伤的最优方法。