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A Preliminary Study on the Locomotion Control of the Intestinal Bio-robot System

Author: WangZhenYu
Tutor: PiXiTian
School: Chongqing University
Course: Biomedical Electronics and Information Technology
Keywords: Biological robots Intestinal clinic Nerve stimulation Motion Control
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 40
Quote: 0
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Abstract

Intestinal diseases are very common, intestinal position and the special structure makes the diagnosis and treatment of intestinal diseases, intestinal clinic has been a hot research at home and abroad. Intestinal clinics device developed at home and abroad for traditional endoscope the clinics capsule, intestinal robot, its important role and status of the discovery and diagnosis of intestinal diseases. These three types of intestinal clinics device there are still many shortcomings, the traditional endoscope invasive examination, and it is difficult to reach the lower section of the small intestine; passive clinics capsule exist beyond the control of movement and posture shortcomings; the active clinic capsules and intestinal robot various drive mode there are a lot of inadequacies, bionic principle electromechanical systems-based drive technology, there are still many problems from the practical application. With the deepening of the bio-robot research, this paper proposes a \Its use \movement behavior into clinics and sentinel release intestinal deep gut purposes. The biological robot has obvious advantages in energy supply, movement and flexibility, based on micro-the nerve electrode control intestinal bio-robot system to solve the problem of intestinal clinics device driver is a research direction worth exploring, once the successful resolution bottlenecks active driver, will greatly promote the development of minimally invasive treatment techniques digestive tract. Firstly, in accordance with slimy gut, long and narrow, rugged, hypoxia and other characteristics, combined with the current status of study and control of biological motion, select in the long and narrow environmental movement, smooth body, to survive in a confined environment and motion control of the nervous system research more thoroughly eel intestinal organisms used in the bio-robot system; Eel motion control mechanism, the use of the unconditioned reflex control method, select in the head and body on both sides of the rear side of the line area electrical nerve stimulation stimulate bit point, used in the subsequent stimulation control experiments. Then, the control system designed to stimulate. According to this article used in the experiment eel body length of 380 mm ± 20 mm range, trunk circumference of 38mm ± 3mm range, design and production of surface mount micro nerve electrode and needle-like micro-implantable nerve electrode using LabVIEW software PCI6221 data acquisition card, voltage - current conversion circuit, NI9265 current output modules and data collection the chassis design CompactDAQ-9172 positive phase voltage stimulator for preliminary in vitro experiments, the positive phase current stimulation, the two-phase voltage stimulator and dual phase current stimulator. The measured 20 eel impedance surface and implanted electrode stimulation system constituted by the positive phase voltage stimulator determination of the eel various parts of the stimulus voltage, frequency, duty cycle; then using surface and implantable electrodes a positive phase current stimulation, biphasic voltage stimulation and biphasic current stimulator stimulation system to the determination of the effect of each stimulus, selected the experimental works best stimulus mode motion control in vitro preliminary experiments. Finally, the motion control of the preliminary tests in vitro. Single locus and multilocus tube of plastic film 12 eel stimulation, exploration to control eel forward; single locus and multilocus 24 eel in the analog intestinal stimulation, and determination of forward speed; final six control forward fresh pig intestine in vitro experiments, the results show that, by side in the middle position of the tail line area implanted stimulating electrodes, with amplitude 1.5uA frequency of 2Hz pulse width is 750uS biphasic current stimulus control eel forward rate of 99.90%, and provide important information for the future development of intestinal bio-robot system prototype. This article confirms eel movement can be controlled, and to lay the foundation for the intestinal biological robot motion control. Intestinal bio-robot system research is still in its initial stage, there are many aspects require careful exploration and research.

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