磁浮膠囊內視鏡控制系統研製

Study and Implementation of Magnetic-Levitated Capsule Endoscope Control System

黃泰淵(Tai-Yuan Huang)

指導教授 ： 劉志文

共同指導教授 ： 連吉時

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.10148

摘要

為改善目前一般傳統電子式胃鏡檢查容易對病人造成不適與恐懼之缺點，並且克服無線膠囊內視鏡無法像胃鏡一般來回觀看一個地方，詳細檢查胃部之缺點，故本論文提出磁浮膠囊內視鏡控制系統之理論與實驗，期望能達成舒適且方便快速之胃鏡檢查方式。
磁浮膠囊內視鏡乃是一套運用磁浮控制理論與技術，藉由磁力之牽引來達成膠囊內視鏡移動及定位動作，並透過膠囊內視鏡之影像擷取系統，將影像傳回至監視器畫面。本系統亦同時應用了人機介面之控制技術，使系統操控人員可以藉由搖桿、監視器以及軟體程式畫面等人機介面裝置，對膠囊內視鏡進行操控，能夠更方便快速且詳細地執行胃鏡檢查任務。
本論文之內容首先將介紹磁浮膠囊內視鏡所運用之磁浮控制相關理論和方法，以及影像擷取與影像處理領域之相關研究與技術應用；再者，將整合磁浮與影像兩大領域之相關技術，提出磁浮膠囊內視鏡控制系統整體架構說明、設計理念、以及系統軟硬體規劃介紹；最後，藉由實驗系統架構與設備之說明，以及對實驗結果之分析與探討，進行理論之驗證，和評估系統整體之可行性與正確性，並且對系統未來之研究發展方向與目標進行探討。

關鍵字

膠囊內視鏡

並列摘要

So far general electronical stomach endoscope examination often make patients feel unwell and fearful, and wireless capsule endoscope can't observe single region of stomach repeatedly to examinate stomach clearly like electronical endoscope. In order to solve the problems of those endoscopes discussed above, this paper presents a new beter endoscope examination system named Megnetic-Levitated Capsule Endoscope Control System and related experiments. The purpose of this paper to develop a confortable, convenient, and effective endoscope examination method.

Megnetic-levitated capsule endoscope control system applies magnetic-levitated control theories and technologies. It performs capsule endoscope movement and position control by using magnetic force; moreover, it transmits the images captured by capsule's inner image capturing device to the monitor. The system also utilizes man-machine interface control technologies. It make doctors not only be able to operate capsule endoscope easily and well with man-machine interface devices like joystick, monitor, and monitoring software fram, but also perform endoscope examination clearly and effectively.

In this paper, to begin with, we will introduce megnetic-levitated control theories and methods concerned with the system and also discuss image capture and processing researches and technologies. Then, we will explan how to apply the theories and technologies of magnetic-levitated control and image to the system. The construction, design concept, and hardware scheme of system will be described. Finally, we will illustrate the experiment system and equipment, and also analyze the results of experiment to verify the theories presented in this paper. Further, the performance and usability of whole system will be estimated, and the future research direction about megnetic-levitated capsule endoscope will be discussed.

並列關鍵字

Capsule Endoscope

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