内窥检查机器人化的传感与主动介入技术

Technology of Sensing and Active Intervention for robotic endoscope

本文提出了一种医用内窥检察系统的传感与主动介入技术 ,它是通过由压觉传感器、蠕动式柔性移动机构和基于形状记忆合金记忆效应的转向机构等构成的内窥检查机器人实现的。压觉传感器检测机器人与腔道壁之间作用力的大小和方位 ,为机器人提供避障、弯曲等信息 ,避免穿孔等医疗事故的发生 ;蠕动式柔性移动机构通过充入气体的膨胀橡胶囊与腔道壁接触 ,因而具有较好的柔软性 ;采用通电调节形状记忆合金元件的方法 ,可改变转向机构弯曲角度 ,以适应腔道的变化。因此 ,传感与主动介入技术对腔道组织损害程度极小 ,具有较高的安全性 ,还可减轻医务人员的工作强度 ,提高内窥检查的效率。

A technology of sensing and active intervention for medical robotic endoscope is presented in this paper.The technology is mainly composed of a tactile sensor array,soft mobile mechanism for earthworm locomotion and turning mechanism based on shape memory effect.The tactile sensor array can provide the information about magnitude and orientation of interacting force between the robotic endoscope and the wall of gastrointestinal tracts.The soft mobile mechanism contacts gastrointestinal tracts with inflatable air chambers,so it has better soft and non-invasive characters.The turning mechanism can be actively bent by shape memory alloy components,so it can adapt to the varying shape of gastrointestinal tracts.Therefore,the technology of sensing and active intervention has the ability of good safety,reduces the working strength of surgeon,and improves the efficiency of endoscopy.