新型机器人驱动内窥镜系统的研究

Research on the Newly Typed Endoscope Drived by the Miniaturc Robot

基于仿生学原理和电磁转换 ,研制成适于人体肠道环境下驱动的多节、多自由度、电磁型微小蠕动驱动机器人 ,配套驱动源、照明系统、成像传像装置及相应接日和控制件 ,并进行了一系列模拟试验。试验结果表明 ,微小型机器人驱动内窥镜系统不仅能在模拟人体肠道道环境下完成设定操作 ,而且能深入其内实现物像的传送和显示。

Based on the principle of bionics and electromagnetic transducing, a miniature,multinode, hyper redundant robot is developed which can drive under the enviromnent of intestines in bodies. The driving and controlling source of the robot, the lighting system, the imaging and transmitting apparatus are also developed. And finally, a series of simulation tests about the integrated system are made, the experimental results show that the endoscope drived by the miniature robot can perform the setoperations in the environnient of simulated intestines in bodies, such as the movementofthe integrated system, the imaging and transmitting of the objects.