基于摩擦力控制结肠内窥镜机器人  

Endoscopic Robot Based on Friction Control in Intestinal Tract

作　　者：高鹏[1,2] 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 [2]上海宇航系统工程研究所,上海201108

出　　处：《上海交通大学学报》2012年第11期1707-1711,共5页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863)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：为了提高肠道疾病主动诊断能力,研究了基于摩擦力控制的结肠微型机器人.摩擦力模型分析了肠道摩擦力控制因素,并利用实验模板和黏附制剂在体外肠道开展的摩擦力实验,验证了接触纹路和接触黏度对肠道摩擦力的影响.摩擦接触装置的研制综合考虑了肠道应用环境和摩擦力控制因素,最终装配在内窥镜机器人样机上实现了摩擦控制运动.实验结果表明:基于摩擦力控制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,且运动环境会对其运动速度产生不同影响.To improve the diagnosis ability of intestinal diseases, a colonic micro-robot was proposed, based on friction control. The friction model analyzed the factors of the intestinal friction control. Under the use of custom-built templates and adhesive polymers, some experiments on the in vitro intestinal surface inves- tigated the influences of contact pattern and contact viscosity. Considering the frictional factors and the ap- plied environment, a friction contact device was designed for the endoscopic robot to realize the frictional locomotion. The experimental results show that the robotic prototype can adapt the serious environments to realize the active locomotion, and the locomotion environments may also produce different influences on its active locomotion speed.

关 键 词：内窥镜机器人 摩擦力 肠道 

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]