消化道内窥镜机器人新型微驱动机构的研究  

Study on A Novel Micro-Driver Endoscopic Robot With Alimentary Tract

作　　者：周丁华 黎介寿[2] 颜国正[3] 李宁[2] 沈航[4] 

机构地区：[1]解放军二炮总医院消化外科,北京100088 [2]南京军区总医院全军普外研究所,南京210002 [3]上海交通大学电子信息学院,上海200030 [4]北京机械自动化研究所机器人研究中心,北京100086

出　　处：《中国生物医学工程学报》2005年第2期227-230,共4页Chinese Journal of Biomedical Engineering

基　　金：国家自然科学基金资助项目 (3 0 2 70 40 6) ;中国博士后科学研究基金资助项目 (中博基 2 0 0 1 14 )

摘　　要：基于仿生学原理及人体消化道特性 ,研制出一种电磁型索状蠕动式内窥镜机器人微驱动机构。阐明了微驱动机构的驱动原理 ,提出了该微驱动机构适合的结构形式及驱动方式 ,分析了该微驱动机构的驱动性能及其消化道适应性。结果表明 ,该新型微驱动机构结构简单 ,控制方便灵活 ,可以有效实现在消化道的全方位驱动。An electromagnetic peristaltic micro-driver was developed based on the principle of bionics and the property of alimentary tract. This paper described the active model of alimentary tract; the frame modality and driveway of the micro-driver were suggested. The structure and movement principal of the micro-driver were also discussed. A series of tests about the alimentary tract adaptation and mobility property of the micro-driver were conducted. The experimental results show that the structure of the micro-driver was simple, and the control of the micro-driver was agile and convenient. The micro-driver could be run effectively in the alimentary tract.

关 键 词：内窥镜 机器人 驱动机构 消化道 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置] R319[自动化与计算机技术—控制科学与工程]