无创诊疗微机器人结肠镜系统的研制

Development of Micro Robotic Colonoscopy for Invasively Diagnosis and Therapy

随着微创无创手术的出现,用于肠道诊疗的微小机器人结肠镜正成为当前研究的热点之一。本文报道了一种新型的基于蚯蚓蠕动原理的内窥镜机器人。它的直径和长度分别为9.5mm和120mm。机器人由自行研制的直线电磁驱动器驱动。文章介绍了样机结构、运动原理和控制系统。建立了爬坡能力相关的粘弹性力学模型,给出了有效牵引的数学条件表达式,并进行了相关试验来验证表达式的有效性。最后进行了离体猪肠道试验。结果表明,该机器人结肠镜能够在柔软肠道组织中自如安全的运行,该研究为机器人结肠镜的临床应用奠定了基础。

Miniature robot for colonoscopy is a hot research with the development of Minimally Invasive Surgery （MIS）. In this paper, a novel micro robotic colonoscopy based on squirm of earthworm is described. Its diameter and length are 9.5mm and 120mm respectively. The robot is driven by a linear DC motor designed and manufactured by us. Paper first introduces the prototype, locomotion principle and control system in detail. A mechanical model relative to slope is built to study the robotic motion ability in the complex and viscoelastic colon environment. Experiments about creeping ability in slope are performed to verify mathematic expressions. At last, In-Vitro experiments in fresh colon of pig are performed. Researches show this kind of robotic colonoscopy can propel itself freely and reliably in soft viscoelastic colon. This study laid the foundation for the clinic application of the micro robotic colonoscopy.