欢迎订阅《振动、测试与诊断》  

Kinematics and Statics Simulation and Experimental Study of Curved Part of Colonoscope

作　　者：潘旭东[1] 陈翔宇 李跃峰[1] 霍红 齐天飞 PAN Xudong;CHEN Xiangyu;LI Yuefeng;HUO Hong;QI Tianfei(School of Mechatronic Engineering,Harbin Institute of Technology Harbin,150001,China)

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《振动．测试与诊断》2024年第3期502-507,618,619,共8页Journal of Vibration,Measurement & Diagnosis

基　　金：高等教育教学改革重点委托资助项目(SJGZ20200047)。

摘　　要：建立结肠镜弯曲部的仿真模型可为实现镜体弯曲部形态的精准控制打下理论基础,改进结肠镜镜体的操控性。首先,针对结肠镜弯曲部基于常曲率假设建立了弯曲部的位置运动学模型;其次,考虑到位置运动学模型对于结肠镜弯曲部在人体肠道内受力复杂的情况下假设不成立,将弯曲部等效为末端受点距的细长梁,基于欧拉伯努利梁理论推导了弯曲部二维平面下受力的静力学模型,给出大变形情况下弯曲部的弯曲形态;最后,搭建了基于双目视觉的测量装置进行实验,验证了仿真模型的可靠性。研究结果为提升内窥镜应用性能及内镜弯曲部结构的参数化设计提供帮助,为手术提供指导,并为相关工程训练医工结合项目建设提供技术支持。Establishing the simulation model can lay a theoretical foundation for realizing the precise control of the shape of the bending part of the colonoscope, thus improving the maneuverability of the colonoscope. Basedon the assumption of constant curvature, the position kinematics model of the bending part of colonoscope is established.Considering that the position kinematics model is not valid when the bending part of colonoscope issubjected to complex force in human intestine, the bending part is equivalent to an elastic rod with the distancebetween points at the end. Based on Euler Bernoulli beam theory, the static model of the bending part undertwo-dimensional plane is derived, and the bending shape under large deformation is given. Finally, a measurementdevice based on binocular vision is built for experiments, which verifies the reliability of the simulationmodel. This study aims at improving the application performance of endoscope, providing guidance for surgeryand helping the parametric design of endoscope bending structure. In addition, the study also provides technicalsupport for the construction of new projects for engineering training and the combination of medicine and engineering.

关 键 词：结肠内窥镜 运动学 静力学 双目视觉 工程训练 

分 类 号：TH77[机械工程—仪器科学与技术] G642[机械工程—精密仪器及机械]