胶囊机器人的可展钳位锚定结构设计与实验

Design and experimentation of deployable anchoring structure for capsule robot

针对当今胶囊机器人缺乏肠道内锚定能力的现状,基于可展连杆机构,设计了胶囊机器人的钳位锚定结构,能够适用于不同直径的肠道环境并提供足够的锚定力。可展钳位结构主要由环形剪状结构及驱动模块组成,并通过前侧安装模块可适配于不同胶囊机器人。根据设计参数,进一步建立了锚定结构的展开性能模型,该结构展开至最大时的撑开面积相较于收缩状态时扩大了248%。最后,依据设计制作了样机,并搭建实验测试平台,分别在不同内径的橡胶软管和离体猪大肠环境中验证了其展开能力及锚定能力。实验表明:样机在展开钳位固定时的摩擦力是未展开时的2.2倍,固定后能够有效克服猪大肠内的蠕动力,验证了钳位结构的可行性,为未来胶囊机器人钳位设计提供新思路。

Aiming at current limitation of capsule robots in lacking anchoring capabilities within the intestinal tract,an anchoring structure for capsule robots based on a deployable linkage mechanism is designed.This structure is designed to adapt to various diameters of intestinal environment and provide sufficient anchoring force.The deployable anchoring structure primarily consists of a circular scissor structure and a driving module,which can be adapted to different capsule robots through the front mounting module.According to the design parameters,an expandability performance model of the anchoring structure is further established,showing a 248%increase in the expanded area compared to the contracted state.Finally,a prototype is fabricated according to the design and an experimental test platform is constructed.The expandability and anchoring capabilities of the prototype are verified in rubber hoses with different inner diameters and ex vivo porcine colon environments.The experiments indicate that the frictional force when the prototype is deployed is 2.2 times higher than when it is not deployed.The prototype effectively overcomes peristaltic forces within the porcine colon after fixation,validating the feasibility of the clamp structure and providing new insights for future capsule robot clamp designs.