本文提出了一种新的驱动定位方式。整个磁驱动的耦合结构，分为定子和转子（借用电机结构的名词）定子是外部驱动电磁线圈，转子是胶囊内嵌入的永磁铁。外部最少3个电磁线圈就可以满足两个转动自由度和一个z方向的移动控制（抵抗重力），内部胶囊内的永磁铁，以大量的磁极子分布排列在胶囊尾部穹顶的方法。整体结构可以对磁驱动有典型的参考价值。
用于一个胶囊型腹腔镜相机系统的一个统一主动运动机理的设计
Design of a unified active locomotion mechanism for a capsule-shaped laparoscopic camera system [1]
Paper Link
Authors: Liu, Xiaolong, etc.
2014, IEEE International Conference on Robotics and Automation (ICRA)
这篇文章提出了用于一个胶囊型腹腔镜手术相机系统的一个统一的主动运动机理。所提出的设计通从一个病人身体外的一个定子调整一个3D旋转磁场一起集成了相机的固定和操作。定子产生力矩来旋转内部转子穹顶在所有的三个维度上，同时产生力来作为一个锚定系统，它在一个手术流程中保持相机稳定。这个设计消除一个铰链设计的需要而且因此集成电机极大地减少了相机的尺寸。一组定子和转子设计被开发和评估通过仿真和实验。
This paper proposes a unified active locomotion mechanism for a capsule-shaped laparoscopic surgical camera system. The proposed design integrates the camera’s fixation and manipulation together by adjusting a 3D rotational magnetic field from a stator outside a patient’s body. The stator generates both torque to rotate the inside rotor dome in all three dimensions, and force to serve as an anchoring system that keeps the camera steady during a surgical procedure. This design eliminates the need for an articulated design and therefore the integrated motors to significantly reduce the size of the camera. A set of stator and rotor designs are developed and evaluated by simulations and experiments.
系统被设计来使能两种相机系统的两种运动，导航（移动控制）和朝向控制，另外补偿相机的重力。无奇异点的朝向控制需要沿着相机系统三轴的力矩，并且移动控制需要沿三轴的力，沿z轴的力提供反抗腹部壁的相机的固定。
The system is designed to enable two types of motions for the camera system, navigation (translational control) and orientation control, in addition to the compensation of the gravity of the camera. The singularityless orientation control requires torque along three axes of camera system, and the translation control requires forces along three axes, with the force along z axis providing the fixation of the camera against the abdominal wall.
在一个定子中的线圈数量应该至少是4因为相机的三个朝向运动自由度（1个用于z方向的相机固定，3个用于相机朝向）。但是事实上，绕胶囊的长轴旋转没有其他两个旋转重要因为相机沿它长轴的中心对称结构。因此，定子的线圈数量能被拓展为3。
The number of the coils in a stator should be at least four because of the camera’s three degrees of freedom orientation mobility (one for camera fixation in z direction, 3 for camera orientation). But in fact, the rotation around capsule’s long axis is not as important as the other two rotations due to the camera’s symmetry structure along its long axis. Therefore, the coil’s number of a stator can be extended to 3.
20毫米外半径的三线圈铁芯定子展示可行性半径和足够力与力矩的最好平衡用来操作相机。线圈被缠绕600圈1平方毫米截面积的铜线。每个线圈的高度，外半径和内半径分别为40mm，20mm，5mm。每个线圈的电阻大约为1.3欧姆。应用于线圈的软铁棍是直径9.5毫米高度60毫米，它们的最大磁导率为2000H/m。
the 3 coils iron-core stator with 20mm outer radius shows the best balance of reasonable dimension and sufficient force and torque for manipulating the camera. The coils are wound by 600 turns copper ware with 1 m m 2 mm^{2} mm2 cross sectional area. The height, outer radius and inner radius of each of the coils are 40 mm, 20mm and 5mm, respectively. The resistance of each coil is about 1.3 Ω \Omega Ω. The soft iron rods applied in the coils are 9.5mm in diameter and 60 mm in height with their maximum magnetic permeability 2000 H/m.
[1]: Liu, Xiaolong, Gregory J. Mancini, and Jindong Tan. “Design of a unified active locomotion mechanism for a capsule-shaped laparoscopic camera system.” 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2014.