北京生物医学工程

扩张-伸缩式机器人在肠道中的力学特性研究

Research on mechanical property of an expanding-extending robot in the intestinal environment

作者：贺术张震颜国正

单位：中国电子科技集团公司第三十二研究所（上海 201800）<p>上海航天电子技术研究所（上海 201109）</p><p>上海交通大学电子信息与电气工程学院（上海 200240）</p>

关键词：胃肠道；机器人；力学模型；拟态；内镜

分类号：R318.04

出版年·卷·期（页码）：2019·38·1（59-66）

摘要：

目的肠道机器人内镜是新一代肠道疾病诊疗设备，为了提高这类设备在肠道内自主运动的效率，本文研究了机器人运动机构与肠道之间的相互作用力对设备自主运动的影响。方法针对扩张-伸缩式机器人的运动原理提出了两个模型，即扩张机构与肠道之间的力学模型、机器人机身与肠道之间的力学模型，并在猪体外肠道环境下开展了实验验证。结果机器人机身与肠道之间的阻力在0.1~0.4 N之间；扩张机构与肠道之间的阻力在0.1~1.8 N之间，且与扩张直径成正比。扩张机构的扩张直径大于肠道直径超过10 mm后，扩张机构受到的肠道阻力将明显大于0.1~0.4 N，有利于有效驻留的产生。结论这种利用腿式结构在肠道内产生力学差使机器人实现在肠道内自主运动的方式，以及腿式结构与肠道之间的力学模型能对胃肠道机器人的设计提供参考。

Objective Robotic intestinal endoscope is a new generation of intestinal diseases diagnosis equipment. In order to improve the autonomous locomotion efficiency of such devices in the intestinal environment, the motion mechanism and the interaction between intestine and the equipment is researched in the paper. Methods Two models are proposed based on the principle of the expanding-extending robot, which are respectively the mechanical model between expansion mechanism and the intestine, and the mechanical model between the robot body and the intestine. We carry out the experiment in vitro pig gut. Results The experimental results show that the resistance between the robot body and the intestinal tract is between 0.1N and 0.4N. The resistance between the expanding mechanism and the intestine is between 0.1 and 1.8N, which is proportional to the expansion diameter. Conclusions When the expansion of the expanding mechanism is larger than the diameter of the intestinal tract more than 10mm, the resistance of the expansion mechanism in the intestine will be significantly greater than 0.1-0.4 N, which is conducive to the effective anchor. The models can provide reference for the design of gastrointestinal robot.

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