基于有限元的结肠镜软体机器人设计仿真及优化

Design,Simulation and Optimization of Colonoscopy Soft Robot Based on Finite Element Method

结肠镜是检测肠癌的金标准,提前筛查能够大幅度降低肠癌的发病率。提出了一种基于仿生的软体机器人设计方案,采用3个内腔体的软体材料结构,通过控制腔体气压大小控制机器人的弯曲方向与角度。该软体机器人安置在传统肠镜的末端,替换传统的人工式操作,在肠镜手术检查过程中起导引作用,可有效的避免结肠镜检查推进与取出过程中肠镜与肠道的不必要接触。利用有限元分析的方法,对软体机器人驱动腔体的形状和布局以及多段式结构进行了仿真,优化了软体机器人的设计参数并开发了机器人样机,通过试验验证了软体机器人的弯曲性能。

Colonoscopy is the gold standard for colon cancer detection,and early screening can greatly reduce the incidence of colon cancer.A design scheme of soft robot based on bionics is presented.It adopts soft material structure of three chambers,and controls the bending direction and angle of the robot by controlling the pressure of the chamber.The soft robot is installed at the end of the traditional colonoscopy to replace the traditional manual operation,and is used for guiding during the colonoscopy surgery,which can effectively avoid unnecessary contact between the colonoscopy and the intestine during the colonoscopy propulsion and extraction process.By means of finite element analysis,the shape and layout of the driving cavity and multi-stage structure of the soft robot are optimized and simulated,and the design parameters of the soft robot are optimized and a prototype of the robot is developed.Finally,the bending performance of soft robot is verified by experiments.