摘要
根据当前胃肠道内窥镜自主运动机器人的研究方向,设计了一种微型的肠道内窥镜机器人系统。机器人采用仿尺蠖式的运动步态,通过直流无刷电机驱动驻留-伸缩-驻留式的结构实现主动运动。整体采用模块化设计,主要包括驻留机构、伸缩机构、电路控制系统以及无线供能模块。对机器人结构模型进行了理论探讨,介绍了电路控制系统的设计,以及无线供能模块的构成。最终的机器人样机直径约为14 mm,整体长度约为61 mm。机器人在PVC柔性管道和猪小肠离体爬行实验中运行稳定可靠,能够实现前进、退后和停留等步态。实验结果表明该微型仿生肠道内窥镜机器人在肠道内可以实现主动运动。
According to the current research on autonomic gastro-intestinal robot system,a new intestinal microrobot system is designed.The robot moves in the inchworm locomotive mode,and is composed of three individual sections,namely clamping,extend-retract and clamping structure（short for C-ER-C）,driven by DC motors.The robot with modular design includes clamping structure,extend-retract structure,circuit control section and wireless power section.A new robot structure is theoretically explored,the design of circuit control section and constitute of wireless power supply section are described.The diameter of the ultimate robot is about 14 mm,and the overall length is about 61 mm.Through the experiments of PVC tube and in-vitro intestine of pig, the robot can stably move forward,backward and stop.The inchworm locomotive robot can work effectively in the gastro-intestinal tract.
出处
《测控技术》
CSCD
北大核心
2013年第12期65-68,72,共5页
Measurement & Control Technology
基金
国家自然科学基金资助项目(31170968)
载人航天领域预先研究项目(010203)
上海市科委项目(09DZ1907400)
关键词
肠道机器人
微型机电系统
尺蠖式运动
无线供能
intestinal robot
micro-electro-mechanical systems
inchworm locomotion
wireless power supply
