无缆式微机器人内窥镜系统的研制及离体实验

Development and in-vitro experiment of a wireless micro-robot for endoscope systems

研制了一种用基于直流电机的直线驱动器实现机器人仿蚯蚓蠕动的无缆式微机器人内窥镜系统。该系统由无线通信控制模块、PC机、微机器人、无线能量传输控制器和无线能量发射线圈组成,用无线方式来实现人机通信和能量传输,解决了传统机器人内窥镜拖缆带来的肠壁损伤问题。研究工作包括微机器人的运动原理分析,无线能量传输简化模型的建立,无线能量传输原理的推导,以及系统离体实验的实施。实验表明:该微机器人的直线驱动器最大输出力为2.55N,机器人在能量传输范围内驱动电压稳定,满足系统运行要求。微机器人在离体猪结肠和小肠内运行均平稳、可靠。机器人摄像通信模块能够实时拍摄并传送出肠道内壁的图像。该研究为进一步实现人体全肠道无创诊疗奠定了基础。

This paper proposes a new prototype of wireless micro-robot system for endoscopy. Robot adopts the autonomous manner of earthworm-like and is driven by linear actuators based on DC motor. The system is composed of a wireless communication module, a personal computer, a micro-robot, a wireless power transmission controller and a wireless power launching coil. Its wireless way in communicating and power transmission helps to solve the problem of inner intestinal injury caused by moving cables in conventional micro-robot endoscopes. The research includes the analysis of the locomotion principle of the wireless micro-robot, the building of the simplified model of wireless power transmission, the deduc- ing of the wireless power transmission principle, and doing the in-vitro experiment of the endoscope system. The experimental results show that the driving voltage of the micro-robot is stable and driving force of the linear actuator can reach to 2.55N, which well fulfills the need of the micro-robot system. The micro-robot can creep reliably in pig＇s colons and small intestines. The video communication module can capture the inner intestinal picture and broadcast it to PC in real time. This research is useful to bring whole intestinal canal non-invasive diagnosis and therapy into effect.