ACTIVE ROBOTIC ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY  

作　　者：MiZhinan Qian Jinwu Gong Zhenbang Mi Zhiwei Shen Linyong School of Mechatronics and Automation, Shanghai University, Shanghai 200072, China 

出　　处：《Chinese Journal of Mechanical Engineering》2002年第2期126-130,共5页中国机械工程学报（英文版）

基　　金：This project is supported by Sn angnai Eaucation Committee.

摘　　要：A robotic endoscope is mainly composed of a tactile array sensor, soft mobilemechanism for earthworm locomotion and turning mechanism based on shape memory effect. The tactilearray sensor can provide the information about magnitude and orientation of interacting forcesbetween the robotic endoscope and the wall of gastrointestinal tracts. The soft mobile mechanismcontacts gastrointestinal tracts with air-in inflatable balloons, so it has better soft andnon-invasive properties. The turning mechanism can be actively bent by shape memory alloy componentsand conform to the complex shape of gastrointestinal tracts. The working principle of roboticendoscope is dealt with.A robotic endoscope is mainly composed of a tactile array sensor, soft mobilemechanism for earthworm locomotion and turning mechanism based on shape memory effect. The tactilearray sensor can provide the information about magnitude and orientation of interacting forcesbetween the robotic endoscope and the wall of gastrointestinal tracts. The soft mobile mechanismcontacts gastrointestinal tracts with air-in inflatable balloons, so it has better soft andnon-invasive properties. The turning mechanism can be actively bent by shape memory alloy componentsand conform to the complex shape of gastrointestinal tracts. The working principle of roboticendoscope is dealt with.

关 键 词：Medical robot ENDOSCOPE Earthworm locomotion Shape memory alloy 

分 类 号：TH776[机械工程—仪器科学与技术]