北京生物医学工程

仿尺蠖气动肠道微机器人运动系统

Locomotion system of pneumatic inchworm-like microrobot for intestinal tract

作者：高鹏颜国正

单位：上海宇航系统工程研究所（上海201108）

分类号：

出版年·卷·期（页码）：2012·31·5（487-493）

摘要：

目的肠道微机器人的设计采用仿尺蠖气动运动系统，以更好地无创诊断人体肠道。方法机器人采用单节尺蠖结构，利用薄壁气囊和伸缩气缸作为径向钳位机构和轴向伸缩机构。气动系统由微型真空泵和流体分配器构成。该系统在流体分配器的控制下，微型真空泵可以驱动各运动机构，实现微机器人的主动运动。研制的机器人运动系统样机直径20 mm，长105 mm，质量109.15 g，可实现42.4 mm的径向变形和35 mm的轴向步距。测量了运动机构的输出驱动力，并测试了机器人样机在不同运动环境下的运动性能。结果气动驱动系统能够向运动机构提供充足的驱动力，伸缩机构可以输出最大1.82 N的推力，钳位气囊最大钳位压强为23.69 kPa，机器人能够在不同角度的刚性管道中运动，并且在离体猪结肠中也能够有效运动。结论仿尺蠖气动肠道微机器人运动系统为人体肠道机器人内窥镜研究提供了一种有效途径。

Objective To advance the minially invasive diagnosis in the intestinal tract, this paper presents a pneumatic inchworm-like locomotion system of the intestinal microrobot. Methods The robot with a single inchworm-like mechanism uses the thin-wall balloon as radial clamping machanism and the telescopic cylinder as axial telescopic mechanism. The pneumatic system is composed of a micro vacuum pump and a flow distributor. Under the control of the flow distributor, the vacuum pump can actuate all locomotion mechanisms to realise the acitive locomotion. A robotic prototype of 20 mm diameter, 105 mm length and 109.15 g weight can realize 42.4 mm radial deformation and 35 mm axial stroke. We measured the output forces of the locomotion mechanisms and tested the locomotion performance of the robot in different environments. Results The pneumatic system can supply the enough driving forces for the locomotion mechanisms. The telescopic mechnism can output the maximum traction of 1.82 N, and the clamping balloon can provide the maximum pressure of 23.69 kPa. The robot can not only move in the rigid pipe with different slope angles, but also in the porcine colon in vitro. Conclusions The pneumatic inchworm-like locomotion system provides an effetive way for the research on the robotic endoscope in the intestinal tract.

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