仿生结肠诊断机器人运动系统

Movement system of bionic colon diagnostic robot

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32.8mm;径向机构实现了大尺寸的径向钳位,最大钳位直径达58.7mm;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。

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.