摘要
分析了利用胶囊机器人实现组织活检功能的问题。针对现有胶囊机器人活检机构采样成功率低的问题,研究提出了一套新的利用胶囊内镜机器人实现胃肠道组织采样的方案,设计了一种新型的胶囊机器人活检机构,通过上位机下发无线指令控制胶囊机器人内部控制电路板对电阻丝供电,电阻丝发热烧断熔断丝,从而释放扭簧带动活检爪进行胃肠道组织采样。结果表明,该机构尺寸小,可对胃肠道同一位置进行多次采样,能很好的集成到胶囊机器人中,并且具有很高的可靠性。
It analyzed the problem that utilizing capsule robot to realize tissue biopsy.Aiming at the low biopsy success rate of present capsule robots,a new scheme which employing capsule robot to realize tissue biopsy has been presented and a novel biopsy mechanism for capsule robot has been developed.The proposed biopsy mechanism utilizes supervisory computer sending wireless command to control the circuit board in the capsule robot which is used to charge for resistance wire.The resistance wire will fuse the fusible links due to electricity heating and then the torsion spring will rotate with biopsy tools sticking out from the capsule to sample tissues of GI（gastrointestinal tract）.The mechanism is small and could sample tissues in the GI repeatedly.It can be integrated into capsule robot and having high reliability in sampling tissues.
出处
《机械设计与制造》
北大核心
2013年第6期168-170,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目(2009AA04Z210)
关键词
胶囊内镜机器人
活检
扭簧
Capsule Endoscopy Robot
Biopsy
Torsion Spring
