可變磁場控制系統應用於胃部膠囊內視鏡之研製

Design and Fabrication of a Remote Variable Magnetic Control System for Capsule Endoscope Operations in the Stomach

張育豪(Yu-Hao Chang)

指導教授 ： 劉志文

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2015年)

https://doi.org/10.6342/NTU.2015.10314

摘要

膠囊內視鏡相較於傳統內視鏡，具有非侵入式，無需麻醉，且能觀
測到整個消化系統的各項優勢。在內視鏡的領域裡，已被視為一個具
有相當吸引力的檢查消化系統的方式。然而，相較於主動式控制的傳
統內視鏡，膠囊內視鏡卻因其無法主動受控，只能被動地順著腸道蠕
動前進，時常漏掉了許多的重要鏡頭。因此，讓膠囊內視鏡變得可以
受到控制已經國際上各個研究團隊的研究重點，其中又以體外磁場控
制的方式最具前瞻性。
在本篇論文裡面，首先比較了國內外各個研究團隊的研究概況。經
比較，發現以手持式體外磁場控制的方式是最直接且有效的。本篇論
文採用了手持控制的架構，用可以雙向旋轉的永久磁鐵、且可改變磁
力大小的體外磁場控制器。並詳細地描述了其中的原理跟製作方式。
而在最後，則做了數個測試的實驗，並且成功地以之在人體的胃部模
型上操作，驗證了整個手把的可行性跟操作性。

關鍵字

膠囊內視鏡 ； 磁控式系統 ； 手持式體外磁場控制 ； 雙向旋 轉 ； 可變式磁場

並列摘要

Capsule endoscopy has the advantages of noninvasive, needlessness of sedation and the ability to examine the whole digestive system compared with the traditional endoscope. It has been viewed as a quite attractive approach to examine the digestive system in the endoscopy field. However, compared with the traditional endoscopy of active controlling, capsule endoscopy cannot be manipulated and can only passively moved with the peristalsis of digestive system, which may cause the losses of lots of important pictures.
Therefore, making capsule endoscope be controllable has been an important research goal to many research groups all over the world. Among the many approaches, controlling it with the magnetic field outside the body is the most promising method. In this thesis, comparison between the general situations of each research groups is done at first. After the comparison, controlling the capsule with a magnetic hand-held controller is the most direct and effective approach of controlling the capsule endoscope. This thesis adopts the structure of hand-held system and proposes a magnetic controller which has a bidirectional rotating permanent magnet and an electromagnet for adjusting magnetic force. The theorems and the process of fabrication are described in the thesis. At the last, several test experiments have been done, and the experiment of operating the capsule on a stomach model with the proposed magnetic hand-held controller has been successfully performed the feasibility and operation ability.

並列關鍵字

Capsule Endoscope ； Magnetic Control Outside the Body ； Magntic Hand-held Controller ； Bidirectional Rotating ； Adjusting Magnetic Force

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