Aiming at overcoming the deficiencies of traditional push-pull endoscopes and passive wireless capsule endoscopes, a magnetic propelling system for active locomotion wireless capsule endoscope was investigated. The permanent magnets were used to generate and regulate the outside maguetic field, which was used to control the movement and gesture of magnetic shelled endoscopic capsule. The performance of the system was evaluated through in-vitro experiments. Test results show that the proposed magnetic propelling system is capable of steering the capsule freely and controlling its gesture in the simulated gastrointestinal tract, thus it greatly improves the efficiency of capsule endoscopy.%为克服传统推拉式内窥镜和被动式无线胶囊内窥镜的缺点,提出了一种用于主动控制胶囊内窥镜的磁驱动导航仪,该系统包括可动病床和磁源支架两部分,采用稀土永磁体产生外磁场,通过机械结构控制外磁场与胶囊磁壳的相互作用实现对胶囊的主动控制.在模拟肠道环境下对磁驱动导航仪进行了体外试验.试验结果表明磁驱动导航系统不仪能实时控制胶囊在模拟肠道中的位置,并能实时调节胶囊的姿态,极大地提高了无线胶囊内窥镜的检测效率.
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