光学精密工程2026，Vol.34Issue(3)：415-424,10.DOI:10.37188/OPE.20263403.0415
适用于螺旋驱动式胶囊机器人内窥镜的双端接收线圈设计与实验
Design and experiment of dual-end receiving coil for helical drive capsule robot endoscopes
摘要
Abstract
Wireless capsule endoscopes provide a noninvasive approach for intestinal examination but re-main limited by the absence of active mobility.To address this constraint,a capsule robotic endoscope based on an active motion platform was developed.A helical drive mechanism was designed to enable ver-satile locomotion through control of the rotational speed and direction of the helical drive unit.To accom-modate this mechanical configuration,dual-ended receiving coils were designed,and the electrical parame-ters of coils with different topological structures were derived through theoretical analysis and mathematical modeling.The performance of the proposed coil topologies was subsequently assessed by simulation and validated through experimental testing.The results demonstrate that a rectifier-followed-by-series topolo-gy provides high stability for the dual-ended receiving coil,achieving a power transfer efficiency of 2.75%at 981 mW induced power.Pipeline experiments further confirm that the wireless power transfer system satisfies the power demands required for capsule endoscope robot locomotion and control.关键词
胶囊机器人/内窥镜/无线能量传输/螺旋驱动式运动机构/双端接收线圈/无线能量传输效率Key words
capsule robots/endoscope/wireless power transfer/helical drive motion mechanism/dual-end receiving coil/wireless power transfer efficiency分类
医药卫生引用本文复制引用
文人庆,颜国正,韩玎,姜萍萍,王志武..适用于螺旋驱动式胶囊机器人内窥镜的双端接收线圈设计与实验[J].光学精密工程,2026,34(3):415-424,10.基金项目
国家自然科学基金资助项目(No.62273225) （No.62273225）
上海市白玉兰人才计划浦江项目(No.24PJB037) （No.24PJB037）
