自推进胶囊在小肠中移动时的优化控制

doi:10.3901/JME.2025.03.299

机械工程学报 ›› 2025, Vol. 61 ›› Issue (3): 299-313.doi: 10.3901/JME.2025.03.299

• 机械动力学 • 上一篇

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自推进胶囊在小肠中移动时的优化控制

廖茂林^1,2, 李智^1,2, 朱佳鹏^1,2, 王泽旭^1,2, JOSEPH Páez Chávez³

1. 北京科技大学机械工程学院北京 100083;
2. 北京科技大学井下智能控制研究院北京 100083;
3. 德累斯顿工业大学动力学研究中心德累斯顿 D-01062 德国

收稿日期:2024-02-28 修回日期:2024-08-15 发布日期:2025-03-12
作者简介:廖茂林，男，1986年出生，博士后，副教授。主要研究方向为微型机器人、非线性动力学、井下智能控制等。E-mail:liaomaolin@ustb.edu.cn
基金资助:
国家自然科学基金(U22B2072)和北京市自然科学基金(3204049)资助项目。

Optimization and Control of a Self-propelled Capsule Moving Small Intestine

LIAO Maolin^1,2, LI Zhi^1,2, ZHU Jiapeng^1,2, WANG Zexu^1,2, JOSEPH Páez Chávez³

1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing 100083;
2. School of Mechanical Engineering, Downhole Intelligent Cybernetics Institute, Beijing 100083;
3. Center for Dynamics, Dresden University of Technology, Dresden D-01062, Germany

Received:2024-02-28 Revised:2024-08-15 Published:2025-03-12

摘要/Abstract

摘要： 在消化道检测领域，传统的管线式内镜常给患者带来极大的心理负担与生理不适，胶囊内镜则因驱动方式和控制复杂等原因而难以对小肠部位开展全面而高效的检测。为此，考虑以双边约束的激振胶囊为研究对象，根据小肠结构的变化分别建立了扩张段和狭窄段的小肠-胶囊耦合动力学模型，并以小肠多变的摩擦环境以及对胶囊的包裹程度不同作为不稳定因素，分析了自推进胶囊的动力学行为规律。基于此，同时以胶囊的移动速度、单位能耗和对小肠壁冲击力作为优化目标，采用(Six-Sigma + NSGA-II + Monte-Carlo)组合优化算法获取胶囊可控移动对应的参数组合区间。最终，结合ADAMS动力学仿真与实验测试验证了当采用优化后的参数组合控制自推进胶囊时，可使其实现低能耗低冲击的定速定向移动。

关键词: 小肠, 胶囊, 非光滑, 多目标优化, 运动控制

Abstract: For gastrointestinal endoscopy, traditional wired endoscopy brings psychological burden and physical discomfort to patients, while capsule endoscopy faces challenges in achieving a comprehensive and efficient examination of the small intestine due to propulsion mechanisms and complexity of control. A small intestine-capsule coupling dynamics model is developed, in which both the flat and the narrow structures of the small intestine are considered. The dynamic behaviours of the self-propelled capsule moving in small intestine are analysed by considering the variable friction environment and the varying degrees of capsule wrapping on the capsule. Subsequently, the moving speed of capsule, energy consumption, and impact force acting on small intestine are set as the optimization objectives, the optimization algorithms (Six-Sigma + NSGA-II + Monte-Carlo) are combined to explore the optimized parameters for the controllable movement of the capsule. Finally, both the ADAMS simulations and the experimental tests are carried out to verify that the obtained optimization results can be used to control the self-propelled capsule to achieve the movement with a designed direction and speed, meanwhile both its energy consumption and the impact force can remain low levels.

Key words: small intestine, capsule, non-smooth, multi-objective optimization, motion control

中图分类号:

TH212
TH213

廖茂林, 李智, 朱佳鹏, 王泽旭, JOSEPH Páez Chávez. 自推进胶囊在小肠中移动时的优化控制[J]. 机械工程学报, 2025, 61(3): 299-313.

LIAO Maolin, LI Zhi, ZHU Jiapeng, WANG Zexu, JOSEPH Páez Chávez. Optimization and Control of a Self-propelled Capsule Moving Small Intestine[J]. Journal of Mechanical Engineering, 2025, 61(3): 299-313.

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自推进胶囊在小肠中移动时的优化控制

Optimization and Control of a Self-propelled Capsule Moving Small Intestine

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