中国组织工程研究

中国组织工程研究 ›› 2012, Vol. 16 ›› Issue (26): 4857-4862.doi: 10.3969/j.issn.1673-8225.2012.26.021

• 骨与关节循证医学 evidence-based medicine of the bone and joint • 上一篇    下一篇

仿生结肠诊断机器人运动系统

高 媛，颜国正，高 鹏，陈雯雯，刘 华   

  1. 上海交通大学电子信息与电气工程学院仪器科学与工程系，上海市 200240
  • 收稿日期:2011-10-22 修回日期:2011-11-26 出版日期:2012-06-24 发布日期:2013-11-02
  • 通讯作者: 刘华，男，副教授，硕士生导师，上海交通大学电子信息与电气工程学院仪器科学与工程系，上海市 200240 liuyuhua@sjtu.edu.cn
  • 作者简介:高媛★，女，1988年生，安徽省合肥市人，汉族，上海交通大学电子信息与电气工程学院在读硕士，主要从事微型医疗机器人研究。 altiplano_yuan@sina.com
  • 基金资助:

    国家863计划资助项目(2007AA04Z234、2008AA04Z201)；国家自然科学基金资助项目(60875061、31170968)资助

Movement system of bionic colon diagnostic robot

Gao Yuan, Yan Guo-zheng, Gao Peng, Chen Wen-wen, Liu Hua   

  1. Department of Instrument Science and Engineering, Electronic Information and Electrical Engineering School of Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2011-10-22 Revised:2011-11-26 Online:2012-06-24 Published:2013-11-02
  • Contact: Liu Hua, Associate professor, Master’s supervisor, Department of Instrument Science and Engineering, Electronic Information and Electrical Engineering School of Shanghai Jiao Tong University, Shanghai 200240, China liuyuhua@sjtu.edu.cn
  • About author:Gao Yuan★, Studying for master’s degree, Department of Instrument Science and Engineering, Electronic Information and Electrical Engineering School of Shanghai Jiao Tong University, Shanghai 200240, China altiplano_yuan@sina.com

PDF

829

被引次数

5

摘要：

背景：近年以最终应用于临床医疗为目的，一些研究机构展开了对结肠诊断微型机器人的探索研究，研制了体形小、自主控制、集诊疗一体的微型机器人。
目的：设计一仿尺蠖式结肠诊断机器人，用于结肠道肿瘤检查。
方法：机器人采用微型直流电机作为驱动器，轴向机构实现了双向伸缩，实际步距达32.8 mm；径向机构实现了大尺寸的径向钳位，最大钳位直径达58.7 mm；机器人头部的摄像头实现机器人的视觉导航；机器人包含了活检机构，可实现完整的活检操作。
结果与结论：机器人在玻璃管道及离体猪大肠内实验，顺利地完成了前进、驻停、后退测试，证明了方案的可行性。

关键词: 机器人, 微型直流电机, 径向钳位, 轴向伸缩, 活检, 数字化医学

Abstract:

BACKGROUND: Recently, the research of colon diagnostic robot has been opened up in several research institutes with the ultimate goal of using for clinical application. The developed robot was small-size, autonomous control and a kind of collection of diagnostic and cure.
OBJECTIVE: To design an inchworm-like colon diagnostic robot for diagnosing the colon tumors.
METHODS: The robot was driven by the micro motor. The axial mechanism realized the function that stretching out and drawing back on both way. A stroke step of the robot was 32.8 mm. The radial mechanism realized the function that clamping the colon for long-diameter. The maximum size of clamping diameter was 58.7 mm. The camera in the front of the robot worked as a visual navigation. The biopsying mechanism could finish a whole biopsying operation.
RESULTS AND CONCLUSION: The experiments were preformed in the glass tube and pig intestines, the robot could move forward, backward and park. That validates the robot is practicability.

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