胃肠道无线内窥镜机器人系统  

Wireless Endoscopic Robot System Applied in Gastrointestinal Tract

作　　者：高鹏[1] 颜国正[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《上海交通大学学报》2012年第9期1411-1415,共5页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)资助项目(2008AA04Z201);国家自然科学基金资助项目(31170968);上海市科委资助项目(09DZ1907400)

摘　　要：为了实现对人体胃肠道的全程无创诊断,研制了一种具有自主运动能力并集成无线技术的内窥镜机器人系统.针对内窥镜机器人的胃肠道运动环境以及微型化的特点和要求,设计、制作了仿尺蠖柔性运动系统、无线供能系统和无线通讯系统并组装了机器人样机.实验结果表明:内窥镜机器人样机能够适应不同的运动环境而实现有效的主动运动;其无线供能系统在外部输入功率为14.7W的状态下,可以实现最小能量为360mW的传输,在8m的有效范围内可以实现实时遥控和30f/s的视频传输.To realize the minimally invasive diagnosis in the whole gastrointestinal tract, an endoscopic robot was developed with active locomotion ability and encapsulated with wireless technologies. Considering the locomotion environment and miniaturization of the endoscopic robot, three modules were designed and fabricated, which are inchworm-like flexible locomotion system, wireless power system and wireless communication system. The robotic prototype was also presented. The experimental results show that the endoscopic robot realizes the active locomotion for different environments; the wireless power system provides the minimum power of 360 mW with the input power of 14.7 W; the real-time telecontrol and video transmission with 30 f/s can be implemented within the distance of 8 m.

关 键 词：内窥镜机器人 主动运动 无线技术 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TH776[自动化与计算机技术—控制科学与工程]