一种适用于胶囊机器人的肠道几何参数感知方法  

An Intestinal Geometric Parameters Sensing Method for a Capsule Robot

作　　者：周锦山 高晋阳 ZHOU Jinshan;GAO Jinyang(State Key Laboratory of Dynamic Measurement Technology,Taiyuan 030051,China;Shanxi Key Laboratory of Advanced Manufacturing Technology,Taiyuan 030051,China)

机构地区：[1]中北大学动态测试技术国家重点实验室,太原030051 [2]中北大学山西省先进制造技术重点实验室,太原030051

出　　处：《计算机测量与控制》2023年第6期223-230,共8页Computer Measurement &Control

基　　金：国家自然科学基金(52275038,62823347);先进制造技术山西省重点实验室开放基金(XJZZ202101);山西省重点研发计划(201903D321164);中北大学校内人才支持计划(QX201808)。

摘　　要：胶囊机器人被认为是实现肠道疾病微创诊查最具前景的器件,肠道的几何参数(即半径和厚度)感知对于机器人在未知的肠道环境中实现主动运动具有重要意义,然而现阶段胶囊机器人均不具备这一感知功能;为此提出一种基于扩张机构和薄膜压力传感器的肠道几何参数感知方法;通过在扩张机构末端安装薄膜压力传感器,测量不同扩张半径下肠道的收缩压力,并基于压力值和以本构方程为核心构建的感知模型,实现对肠道初始半径及厚度的感知;搭建实验平台对该感知方法测试发现:针对五段具有不同几何参数的离体猪肠道,可在15 s内完成对肠道几何参数感知,对于初始厚度的感知误差范围为0.084~0.239 mm,初始半径的感知误差范围为0.186~0.339 mm。Capsule robots are considered the most promising medical instrument for realizing minimally invasive diagnosis of the intestinal diseases.Sensing the intestinal geometric parameters of radius and thickness is of great significance for robot s active locomotion in the unknown intestinal environment.But so far,capsule robots do not have this sensing function.For this reason,based on the expanding mechanism and thin-film pressure sensors,an intestinal geometric parameter sensing method is proposed.By installing thin-film pressure sensors on the tips of the expanding mechanism,the contraction pressure of intestines in different expanded radius can be measured.And the pressure and sensing model are taken as the core of constitutive equation,the initial radius and thickness of intestines can be sensed.An experimental platform is set up to verify the proposed method in five ex-vivo pig intestines with different geometric parameters,and the results show that the intestinal geometric parameters can be sensed out within 15 s,and the sensing errors of intestinal radius and thickness are in the ranges of(0.084 mm,0.239 mm)and(0.186 mm,0.339 mm),respectively.

关 键 词：肠道几何参数 感知方法 胶囊机器人 扩张机构 薄膜压力传感器 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]