蠕动式微机器人结肠镜系统及模型

研制了一种新型的基于蚯蚓蠕动原理的内窥镜机器人,可用于微创无创肠道诊疗.机器人直径和长度分别为9.5和120 mm,由自行研制的直线电磁驱动器驱动.详细介绍了样机的结构、运动原理和控制系统,建立了与爬坡能力相关的力学模型,给出了有效牵引的数学条件表达式,并对表达式的有效性进行了试验验证.建立了在粘弹性肠道中的受力模型,研究了牵引效率、临界步距,并进行了离体肠道试验.该研究为机器人结肠镜的临床应用奠定了基础.

Research on Micro Robotic Colonoscopy System and Model Based on Squirm

A novel micro robotic colonoscopy simulating squirm of earthworm was developed to diagnose and cure the gastrointestinal.Its diameter and length is 9.5 mm and 120 mm respectively.The robot is driven by linear DC motor.This paper introduced the prototype,locomotion principle and control system.A mechanical model is built to study the robotic motion ability in the environment of viscoelastic colon.Experiments about creeping ability in slope are performed to verify these expressions.Viscoelastic model about the acting force between the robot and the colon is created to study the locomotion efficiency.Critical squirm step is proved to be existed.At last,in vitro experiments in pig's colon are performed.This study has laid the foundation of the clinic application of the micro robotic colonoscopy.