|
Micro invasive medical robots have shown great potential in clinical application. But the localisation problem hasn't been solved well still, greatly restraining their application. Aiming at positioning the gastrointestinal physiological parameters detecting capsule, a portable AC electromagnetic localisation method for in-vivo micro robot is put forward. This paper verified the feasibility of the method from localisation model, algorithm, calibration method, construction of the localisation system, static and dynamic experiments and electromagnetic safety. Finally, conclusions are drawn that in case of the static and dynamic experiments results, the accuracy of portable positioning system is high (less than 10 mm) enough to satisfy the localisation need of the micro invasive devices in-vivo, and the system is electromagnetic safe for human.
|
