微机器人结肠镜样机及离体肠道试验研究

Research on Micro Robot Colonoscopy Prototype and In Vitro Experiment

为了对结肠进行微创无创检查,依据仿生学原理,使用微细加工技术,开发了一种基于电磁蠕动的仿蚯蚓微机器人结肠镜样机,进行了离体肠道试验。微机器人结肠镜使用电磁直线驱动器,运动单元之间由万向节连接,机器人整体柔软灵活。头部通过形状记忆合金控制行走方向和成像方向。在试验中,对机器人的运动效率、运动能力进行了深入的分析,测量了运动速度、牵引力。设计并制造出样机,进行了猪结肠离体实验,结果表明机器人结肠镜运动可靠、控制方便,该研究对机器人结肠镜进入临床应用具有一定的参考价值。

A prototype of the earthworm-like micro robot based on electromagnetic creeping was designed according to the principle of the biomimtcs and manufactured using precision process technology to diagnose the colon microinvasively or non-invasively actively, and in vitro experiments in intestine were made. This micro robot was driven directly by electromagnetic linear driver. The mobile cells were joined with two degree-of-freedom joint and the whole body was flexible and soft. The direction of movement and the angle of imaging could be controlled by the shape memory alloy （SMA）. In the experiments, locomotion efficient and locomotion ability were analyzed carefully. Locomotion force and velocity were measured. Based on the experimental resuhs, the driving devices＇ instruct was designed. The in vitro experiments in the intestine of pig demonstrated that the micro robot can navigate in the intestine by itself reliably and be controlled easily. These results provided reference data to the application of robot colonoscopy in the clinic.