利用硅微传感器实现智能内窥镜的主动避障  

The Automatic Obstacle - avoidance System of Endoscopy Based on Micro - Semiconductor Tactile Sensor

作　　者：殷金喜[1] 钱晋武[1] 沈林勇[1] 章亚男[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机电一体化》2004年第3期21-24,共4页Mechatronics

基　　金：863计划项目(2001AA422180);国家自然科学基金项目(50075050);教育部优秀青年教师资助计划项目;上海市重点科技攻关项目(021111115)

摘　　要：内窥镜主动避障系统是利用微型接触传感器、电动机械卡爪和伺服控制系统等构成的一个实验系统,尝试用机器人技术改造传统内窥镜,使其在介入人体肠道时,端部能对人体肠道壁面主动回避,减少穿孔发生的可能性。就基于硅微触觉传感器的内窥镜主动避障子系统的主要关键技术进行了详细分析和描述,最后给出了部分技术指标及试验数据。The automatic obstacle - avoidance system of robotic endoscopy is an experimental system com-posed of tactile micro - sensors, a mechanical gripper and a servo control system. The system we have made aims at improving of traditional fiber endoscopes with MEMS technology so that the head of endoscopy can automatically a-void pressing inner surface of intestine to reduce the risk of perforation. This paper gives the details of theory and design of the micro silicon semiconductor sensor. It also summarizes compositions of the subsystem, analyses several important parts of the system and offers some technical specifications & experiment results.

关 键 词：硅微传感器 医疗机器人 内窥镜 肠道检查 主动避障 

分 类 号：TH789[机械工程—仪器科学与技术]