仿尺蠖气动软体肠道机器人的设计与研究  

Design and research of a pneumatic soft intestine robot imitating the inchworm

作　　者：何永胜 孙志峻[1] 袁捷[2] 韦聪文 韩国伟 褚效成 HE Yongsheng;SUN Zhijun;YUAN Jie;WEI Congwen;HAN Guowei;CHU Xiaocheng(State Key Laboratory of Mechanics and Control of Mechanical Structures,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,P.R.China;Department of Gastroenterology,Nanjing First Hospital,Nanjing Medical University,Nanjing 210006,P.R.China)

机构地区：[1]南京航空航天大学航空航天结构力学及控制全国重点实验室,南京210016 [2]南京医科大学附属南京医院(南京市第一医院)消化内科,南京210006

出　　处：《生物医学工程学杂志》2024年第6期1137-1144,共8页Journal of Biomedical Engineering

基　　金：国家自然科学基金(52275058)。

摘　　要：为了寻求一种对患者友好、成本低廉的肠道检查方法,设计并制作了一种结构简单的仿尺蠖气动软体肠道机器人。该肠道机器人由两个用于锚定的径向膨胀圆柱形橡胶薄膜气囊和一个用于轴向伸缩的低密度聚乙烯薄膜气囊构成,通过模仿尺蠖的爬行实现在肠道中的运动。对锚定气囊内部气压和膨胀后自由变形尺寸的关系进行了理论推导,指出气囊不均匀变形是一种由橡胶材料大变形引起的膨胀失稳现象。对肠道机器人在不同尺寸硬管和离体猪小肠中验证了其运动性能,在离体猪小肠中运行速度为4.87 mm/s,驻留时锚固力为2.33 N,能够顺利通过90°硬质弯管。这项工作有望为病患提供一种低痛苦、低费用的肠道检查新方法。In order to seek a patient friendly and low-cost intestinal examination method,a structurally simple pneumatic soft intestinal robot inspired by inchworms is designed and manufactured.The intestinal robot was consisted of two radially expanding cylindrical rubber film airbags for anchoring and one low density polyethylene film airbag for axial elongation,which achieved movement in the intestine by mimicking the crawling of inchworms.Theoretical derivation was conducted on the relationship between the internal air pressure of the anchored airbag and the free deformation size after expansion,and it pointed out that the uneven deformation of the airbag was a phenomenon of expansion instability caused by large deformation of the rubber material.The motion performance of the intestinal robot was validated in different sizes of hard tubes and ex vivo pig small intestine.The running speed in the ex vivo pig small intestine was 4.87 mm/s,with an anchoring force of 2.33 N when stationary,and could smoothly pass through a 90°bend.This work expects to provide patients with a new method of low pain and low-cost intestinal examination.

关 键 词：肠道机器人 尺蠖运动 非线性膨胀 圆柱形橡胶薄膜 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]