肠道诊疗微机器人无线双向通信系统的设计与实现

摘要

研究了肠道诊疗微机器人的无线双向通信方法,设计并实现了一种包括人机界面、通信盒和肠道微机器人中的无线数据收发模块与视频图像发送模块在内的双向半双工的无线通信系统.该通信系统通过硬件结构和软件流程的结合,实现了体内外无线双向通信、图像无线收发以及肠道内部机器人各控制模块之间的协同通信,可控制机器人机构运动,实时读取肠道参数和观察肠道图像并实施热疗或活检手术.通过猪活体实验,验证了该通信系统的有效性和可靠性.实验结果表明,射频双向通讯可在0.6s内完成控制命令的发送和诊查数据的接收,机器人运动步态连续稳定,视频图像清晰,可对肠道肿瘤实施安全热疗.%The bi-directional wireless communication in a micro robot system for intestinal diagnosis and treatment was studied, and a bi-directional wireless communication system for micro robots' intestinal diagnosis and treatment was designed and implemented.The system included a human-machine interface ( HMI) , a communication box, and the devices for data' wireless communication and video signal transmission in a micro robot.The hardware and the software of thd system were rationally designed to realize the control of a micro robot, get the parameters and pictures of intestinal, even perform a surgery, providing wirless communication between robot and extracorporeal.The vivo experiment was conducted to show that the whole system can work properly in the clinic diagnosis and treatment.The experimental results indicated that the average RF communication time was 0.6s, and the step of the robot movement is continuous and steady, besides the heat treatment can be operated safely.