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系統識別號 U0026-1411201115063900
論文名稱(中文) 具磁橋磁導引系統之研製
論文名稱(英文) Analysis and Implementation of Magnetic Guidance System with Magnetic Bridges
校院名稱 成功大學
系所名稱(中) 電機工程學系碩博士班
系所名稱(英) Department of Electrical Engineering
學年度 100
學期 1
出版年 100
研究生(中文) 劉家旗
研究生(英文) Jia-Chi Liu
學號 n26984371
學位類別 碩士
語文別 英文
論文頁數 165頁
口試委員 指導教授-林瑞禮
口試委員-陳建富
口試委員-艾祖華
口試委員-呂錦山
口試委員-劉興富
中文關鍵字 磁導引系統  三相激磁機系統  磁致動器  磁性藥物  有限元素法(FEM) 
英文關鍵字 magnetic guidance system  three-phase exciter system  magnetic actuator  magnetic drugs  finite element method (FEM) 
學科別分類
中文摘要 本論文提出一具磁橋之磁導引系統,可用於導引膠囊內視鏡、導管與磁性藥物至目標位置,減少藥物劑量以降低因治療所產生的副作用與對正常組織的傷害。傳統磁導引系統係使用永久磁鐵磁致動器,致使體積較為龐大。因此,電磁鐵磁致動器被用於磁導引系統中以縮小磁致動器之體積。藉由有限元素法(FEM)分析磁致動器之磁場,以驗證本論文所提出之磁致動器可以符合磁導引之應用。此外,可善用病床之金屬支架做為磁橋以增加感應於磁藥物之Y分量磁力於工作區內。
本論文亦提出錯相式三相激磁機系統,進行激磁相量控制。最後,實做一1:15縮小尺寸之磁導引系統雛型以驗證磁導引之操控性。
英文摘要 This thesis presents a magnetic guidance system with magnetic bridges, which can be utilized to navigate the capsule endoscopy, magnetic catheter, and magnetic drugs to the targeted position. The drug doses of the therapies with the magnetic guidance system can be reduced to decrease the side effects and harm for normal tissues.
The permanent magnets are utilized to be the magnetic actuators in the conventional magnetic guidance system, but causes bulky volume. Therefore, the electromagnet actuator is employed in the magnetic guidance system for smaller volume. The magnetic fields of the magnetic actuator are analyzed through FEM to validate the proposed magnetic actuator corresponding to the applications of the magnetic navigation.
Furthermore, the metal frames of the patient table can be well utilized as the magnetic bridges to enhance the Y component magnetic forces induced on the magnetic drugs in the working region of the magnetic actuator.
The interleaved three-phase exciter system is also proposed in this thesis for the vector control excitation. Finally, the 1:15 reduced-scale prototype of the proposed magnetic guidance system is implemented to verify the maneuverability of the magnetic navigation.
論文目次 CHAPTER 1. INTRODUCTION 1
1.1. Background 1
1.2. Motivation 6
1.3. Thesis Outline 7
CHAPTER 2. FINITE ELEMENT ANALYSIS FOR MAGNETIC ACTUATORS 8
2.1. Introduction 8
2.2. Finite-Element Method for Magnetic Field Analysis 9
2.2.1. Maxwell’s Equations and Potentials 9
2.2.2. Boundary Conditions 13
2.2.3. Magnetic Force 15
2.3. Analysis of Interpole-Type Magnetic Actuator 16
2.3.1. Interpole Length (li) 23
2.3.2. Analysis of Magnetic Flux Density with Different Length Ratios (MP) 24
2.3.3. Slots Number (nslot) of Magnetic Actuator and Interpole Width (wi) 25
2.3.4. Phase Current (Ip) and Magnetic Actuator Thickness (ti) 28
2.3.5. Employed 24-Slot Interpole Magnetic Actuator 31
2.4. Analysis of Magnetic Actuator Excitation 34
2.5. Finite Element Analysis for Magnetic Bridges 41
2.6. Summary 48
CHAPTER 3. DESIGN OF MAGNETIC GUIDANCE SYSTEM 49
3.1. Introduction 49
3.2. Proposed Three-Phase Exciter System 51
3.3. Magnetic Navigation Control Interface System 59
3.3.1. 2-D Direction Controller 60
3.3.2. Digital Signal Processing Circuits 61
3.4. Summary 63
CHAPTER 4. EXPERIMENTAL RESULTS 64
4.1. Introduction 64
4.2. Implementation of 24-Slot Interpole Magnetic Actuator 65
4.3. Experimental Results of Magnetic Actuator with Magnetic Bridges 68
4.4. Experimental Results of Magnetic Navigation 71
4.5. Summary 86
CHAPTER 5. CONCLUSIONS AND FUTURE WORKS 87
REFERENCES 89
APPENDIX A. DETAILED DERIVATION OF EQUATION 94
APPENDIX B. FINITE ELEMENT ANALYSIS OF MAGNETIC ACTUATOR 96
APPENDIX C. FINITE ELEMENT ANALYSIS OF MAGNETIC ACTUATOR WITH MAGNETIC BRIDGES 109
APPENDIX D. CONNECTORS OF TMS320LF2407 DSP CONTROLLER 140
APPENDIX E. IMPLEMENTATION OF 24-SLOT INTERPOLE ACTUATOR 141
APPENDIX F. MAGNETIZATION CHARACTERISTICS OF FE3O4 PARTICLES 143
APPENDIX G. EXPERIMENTAL RESULTS OF MAGNETIC NAVIGATION WITH DIFFERENT EXCITING TIMES 160
VITA. 165
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