摘要 : Although the physical examination using conventional capsule endoscopy can be achieved in a non-invasive and painless way, it is a costly, long-time and uncontrollable procedure. The active driving mechanism for capsule endoscopes... 展开 Although the physical examination using conventional capsule endoscopy can be achieved in a non-invasive and painless way, it is a costly, long-time and uncontrollable procedure. The active driving mechanism for capsule endoscopes is thus proposed on the basis of the conventional capsule endoscope. This paper studies a new actuator structure for potential active capsule robot (CR) applications. This actuator, which consists of a single inner mass and an outer smooth shell, is designed to be able to realize a sealed linear locomotion system, avoiding damaging the intestinal tissue caused by the paddle or leg sticking outside the capsule that are often shown in other CR designs. Compared to the existing driving principle, the CR proposed in this paper is driven by the collision impact forces generated inside the capsule, rather than by additional mechanical structures of the CR or micro-motors within the capsule to generate the required driving force. When the excited current in the coil is 2.75 amps, the driving force acting on the capsule body is approximately 2 N, which is larger than other existing conventional actuators. Moreover, the measured experimental results show that the stroke length and movement speed can be easily controlled by varying the amplitude and frequency of the excitation current purely. 收起