螺旋传动蠕动式内窥镜机器人的设计和实验  

Design and testing of an endoscopic robot with peristalsis locomotion based on helical gearing hypoid

作　　者：史玉婷[1] 姜萍萍[1] 颜国正[1] 林蔚[1] 

机构地区：[1]上海交通大学医学精密工程及职能系统研究所,上海200240

出　　处：《国外电子测量技术》2012年第2期79-83,共5页Foreign Electronic Measurement Technology

摘　　要：针对现有胃肠道检测方法的被动运动方式的缺点,设计出了基于蠕动方式的胃肠道内窥镜机器人。该机器人由两个径向钳位机构和一个轴向伸缩机构组成,钳位机构和伸缩机构都是基于螺旋传动原理并由直流电机驱动。机器人通过步态的配合完成前进、后退和驻留。加工装配后的机器人在收缩状态时尺寸大小为Φ13mm×75mm,径向最大伸长5mm,轴向步距29.2m,理论运动速度2.92mm/s。基于双螺旋传动的机器人可以实现在肠道内主动运动。To design an active capsule endoscopy robot based on the peristalsis locomotion to examine the gastrointestinal tract （especially the small intestine） to overcome the shortcoming of passive locomotion of traditional gastrointestinal in- spection. The robot was composed of two radial dampers and one axial extensor. Both of dampers and extensor were based on the principle of screw drive and driven by DC motors. The robot could move forward backward and keep still by the gait control. The size of the assemble robot in contracted state is Ф13mm×75mm, the maximal radial elongation is 5mm, the axial step is 29.2mm, the theoretical velocity is 2.92mm/s. The robot could move actively in the intestine.

关 键 词：内窥镜机器人 螺旋传动 蠕动式 径向钳位机构 轴向伸缩机构 

分 类 号：TH772[机械工程—仪器科学与技术]