WEKO3
アイテム
Study on a novel type of magnetic actuated microrobot
https://kagawa-u.repo.nii.ac.jp/records/7373
https://kagawa-u.repo.nii.ac.jp/records/7373535d8720-da67-4469-83ce-bf9a34da63b1
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
本文の要約 (745.8 kB)
|
|
|
|
論文内容の要旨・審査結果の要旨 (360.9 kB)
|
|
| Item type | 学位論文 / Thesis or Dissertation(1) | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 公開日 | 2021-05-18 | |||||||||||
| タイトル | ||||||||||||
| タイトル | Study on a novel type of magnetic actuated microrobot | |||||||||||
| 言語 | en | |||||||||||
| 言語 | ||||||||||||
| 言語 | eng | |||||||||||
| 資源タイプ | ||||||||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_db06 | |||||||||||
| 資源タイプ | doctoral thesis | |||||||||||
| その他（別言語等）のタイトル | ||||||||||||
| その他のタイトル | 家庭用遠隔リハビリテーションシステムに関する研究 | |||||||||||
| 言語 | ja | |||||||||||
| アクセス権 | ||||||||||||
| アクセス権 | open access | |||||||||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||
| 著者 |
王, 梓旭
× 王, 梓旭
|
|||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The capsule endoscope (CE) is used in a wide range of minimally invasive medical field. After 20 years of development, it has become a frontline established technology and be favorited by the patients. OMOM (Jinshan, China), MIRO (Intromedic, Korea), and PillCam (Given-, Israel) are popular capsule endoscopes that have been commercialized, they provide reference norms for the industry, such as ethics, theory, size, clinical, materials and some expert consensus. The novel types minirobots proposed in this research are focused on the development of the wireless magnetic actuated minirobot, which provides the feasibility of the similar wireless capsule endoscopes (WCE). The WCE have many potential applications in the medical field. For example, there are three main global medicine market, the first one is the high-end physical examination, high-income people have a great demand for emerging medical experience, and the number of physical examinations has increased year by year and for this traditional medical project, WCE is more popular than traditional endoscopy. Second, gastroenterology and cardiovascular medicine (WCEs are expected to reduce the mortality of gastrointestinal bleeding in patients with coronary heart disease after stent surgery), and form an effective complementary with traditional endoscopy to solve the limitations of traditional endoscopy. Third, the early detection of gastrointestinal disease. The WCEs has been widely used because of its painless, safe and effective, high diagnostic accuracy and easy operation. The sum of the above three types of market values will be about 4 billion dollars in 2020. This non-invasive method is more popular with the patients, they can just oral the WCEs and wait for it to move down along the stomach, duodenum, jejunum, colon and large intestine. After two decades of development, comparing with the traditional CEs, the active WCEs with advanced technology are more suitable for the narrow areas and complex environments during the GI tract. Comparing the traditional CEs, the size limitation, power supply dependence and lack of functions are the main challenges during the development of the WCEs. For the dimension design of the robots, it generally refers to the CEs which has been commercialized. For instance, the PillCam and OMOM are the bellwethers in this field, the CEs that they carried out have been certified by the US Food and Drug Administration (FDA), the relatively high-level research in the industry will follow the basic standards such as dimensional requirements, ethical and theoretical examinations proposed by these two companies. Then, the power supply of the traditional CEs is relying on the battery and the movement of them rely on the gravity and intestinal peristalsis. It is difficult for them to arrive at the desired area sometimes, meanwhile, the CEs without active locomotion will takes 8 hr to pass through the whole digestive tract. The driving mode in this thesis we used is the force transmission method actuated by the electromagnetic actuation (EMA) system. The EMA system is widely used in the advanced research in this field, the force transmission method provides the feasibility of the non-battery active locomotion CEs. The three-axis Helmholtz coils we proposed contains three pairs of electromagnetic coils that are orthogonally arranged in a spatial coordinate system, and the coils are driven by a servo amplifier, whose signal of control input is calculated by the control program on the PC controller. The generated uniform magnetic fields have the same magnitude and direction at all point inside the working space. The operators can monitor the orientation and motions via the real-time data and the information of the applied dynamic electromagnetic field, such as magnitude, direction and frequency by the control panel. The axial orientation of the rotating magnetic field can be adjusted in response to currents applied to three-axis Helmholtz coils, and the superimposed magnetic field features good uniformity and directivity. When the operator changes the electromagnetic field generated by the Helmholtz coil, the digital signal is converted to an analog signal, which is then passed and controlled to the power supply to generate the desired current. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | Based on the above medical background and devices, the main challenges of this research are the size limitation, realization of the function modules and according to the pathological requirements to design the structure and realize the functions. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | So this study will be divided into three steps. | |||||||||||
| 言語 | en | |||||||||||
| 抄録 | ||||||||||||
| 内容記述タイプ | Abstract | |||||||||||
| 内容記述 | The first is to develop and evaluate the novel type active magnetic actuated minirobot with screw jet motion. Then, a novel multiple functions minirobot will be carried out to complete different tasks under the same EMA system during the evaluation experiments. Finally, according to the pathological background and real environment, an in-vitro experimental environment was established to simulate the real intestine, a series of in-vitro experiments will be carried out to evaluate the different performances of the proposed minirobots in the complex environments. We also summarize the bottlenecks of the current research, prospective the application feasibility of the minirobots and in the process of commercialization, there are still a series of difficulties in customer service. | |||||||||||
| 言語 | en | |||||||||||
| 学位名 | ||||||||||||
| 言語 | ja | |||||||||||
| 学位名 | 博士（工学） | |||||||||||
| 学位授与機関 | ||||||||||||
| 識別子Scheme | kakenhi | |||||||||||
| 識別子 | 16201 | |||||||||||
| 言語 | ja | |||||||||||
| 機関名 | 香川大学 | |||||||||||
| 言語 | en | |||||||||||
| 機関名 | Kagawa University | |||||||||||
| 学位授与年月日 | ||||||||||||
| 学位授与年月日 | 2021-03-24 | |||||||||||
| 学位授与番号 | ||||||||||||
| 学位授与番号 | 甲第150号 | |||||||||||
| 権利 | ||||||||||||
| 言語 | ja | |||||||||||
| 権利情報 | 今後図書及び学術誌で発表予定の内容を含み全文公表できないため要約を公表する | |||||||||||
| 著者版フラグ | ||||||||||||
| 出版タイプ | VoR | |||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||
