北京生物医学工程

蠕动式微型胃肠道机器人的设计

Design of squirming micro-robot for gastrointestinal tract

作者：王益宁林蔚颜国正

单位：上海交通大学电子信息与电气工程学院（上海 200240）

分类号：

出版年·卷·期（页码）：2012·31·2（183-187）

摘要：

目的为使机器人在胃肠道中主动运动以实现多种医疗功能，本文设计了一种通过多点接触方式提高摩擦力，具有较高运动效率的蠕动式微型机器人。方法根据胃肠道的环境设计了机器人步态，选取带减速器的微型无刷直流电机作为驱动器。并设计装配了一套运动机构，并着重分析了其中的轴向伸缩以及径向多点接触结构。结果装配后的机器人直径13 mm，长度29 mm，质量10.2 g。在3 V直流电压驱动下可持续稳定运行40 min以上。结论该蠕动式胃肠道检测机器人系统实现了主动运动。

Objective In order to make the robot reside and move actively in the gastrointestinal (GI) tract to achieve a variety of medical functions，a squirming micro-robot was designed with high movement efficiency by using multipoint attachment to increase friction. Methods The gait of the proposed model was simulated and the appropriate brushless DC motor with gear reducer was selected according to the GI tract environment. A series of stretching mechanism was designed and assembled. The axial stretching mechanism and the radial multipoint attachment mechanism were analyzed emphatically. Results The diameter of the assembled robot was 13mm，the length was 29mm，and the quality was 10.2g. Driven by 3V DC voltage，the robot could operate constantly and stably for more than 40 minutes. Conclusions This squirming GI micro-robot system for inspection realized the active movement.

参考文献：

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