中文摘要：

为对病灶处实现快速、可靠、可控的药物输送,研究适用于胃肠道药物释放的遥控施药方法。本文提出一种施药驱动力智能可调的多次施药方式,施药剂量、施药次数、施药平均速度均可由上位机设定,并通过射频传输方式将施药触发指令和施药参数无线发送至施药胶囊;施药胶囊根据内置的六轴姿态角传感器获取当前的空间角度,并结合施药参数计算当前施药所需的驱动力,由微控制器智能控制与电磁-永磁式施药驱动模块相连的激磁时间调节电路、激磁强度调节电路输出相应时间和强度的激磁电流,从而使电磁-永磁式驱动模块产生所需的驱动力,由此实现施药剂量、施药平均速度的可控,达到多次药物释放。基于上述原理,设计开发了给药装置的驱动模块与传感控制模块的软硬件电路,并完成了实验验证。由实验可知：所设计的施药方法可实现施药次数、施药剂量的可控。

英文摘要：

A remote administration method for the gastrointestinal site-specific drug delivery is studied to achieve fast, reliable and controllable drug delivery in the lesions. The paper proposes a multiple administration method with intelligent and adjustable driving force. The host computer sets the dosage, times and average speed of drug delivery. Trigger instructions and drug delivery parameters are transmitted to capsule by radiation frequency（RF） transmission. The drug delivery capsule obtains present space angle according to the built-in six-axis attitude sensor, which is combined with drug delivery parameters to calculate the driving force needed for releasing drug. The micro controller intelligently controls exciting time regulating circuit and exciting strength regulating circuit connected with electromagnetic-permanent driving module to output the corresponding time and strength current, which make the electromagnetic-permanent driving module produce needed driving force. Finally, the controllability of dosage, average speed of drug delivery is realized and the drugs can be released repeatedly.Based on the above principles, the software and hardware circuits of the driving module and the sensor control module of drug delivery mechanism are designed, and experimental verification is completed. The results show that the designed delivery method can control the times and dosage of drug delivery.