机器人主动内窥镜的自动介入技术初探  

Primary Research on Automatic Insertion Technique in Robotic Endoscopy

作　　者：罗继军[1] 章亚男[1] 沈林勇[1] 钱晋武[1] 

机构地区：[1]上海大学机械工程与自动化学院,200072

出　　处：《机电一体化》2003年第3期21-23,共3页Mechatronics

基　　金：国家自然科学基金(编号50075050);863计划(编号2001AA422180);上海市启明星跟踪计划资助

摘　　要：介绍了两种内窥镜自动介入机构,一种是利用摩擦轮机构,实现了内窥镜的连续介入,另一种利用导轨、机械手进行间隙式介入。对两者进行了力和位移分析,并且实验测定了介入力大小。后者配合编码器和滑觉传感器,构成机器人主动内窥镜自动介入系统。This paper describes two kind of automatic insertion structures for the endoscope. One applies fric-tional wheel structure to implement continuous insertion of the endoscope. The other implements discrete insertion by using manipulators and orbit guideway. Force and displacement performance are analyzed on these two structures. In addition, pushing forces are measured by experiments. The latter cooperates with an encoder and a slide sensor, and makes up of automatic insertion system in robotic endoscopy.

关 键 词：内窥镜 送进机构 摩擦轮 机械手 机器人 自动介入机构 

分 类 号：TH776[机械工程—仪器科学与技术]