北京生物醫(yī)學(xué)工程

擴(kuò)張-伸縮式機(jī)器人在腸道中的力學(xué)特性研究

Research on mechanical property of an expanding-extending robot in the intestinal environment

作者：賀術(shù) 張震顏國正

單位：中國電子科技集團(tuán)公司第三十二研究所（上海 201800）<p>上海航天電子技術(shù)研究所（上海 201109）</p><p>上海交通大學(xué)電子信息與電氣工程學(xué)院（上海 200240）</p>

關(guān)鍵詞：胃腸道；機(jī)器人；力學(xué)模型；擬態(tài)；內(nèi)鏡

分類號：R318.04

出版年·卷·期（頁碼）：2019·38·1（59-66）

摘要：

目的腸道機(jī)器人內(nèi)鏡是新一代腸道疾病診療設(shè)備，為了提高這類設(shè)備在腸道內(nèi)自主運(yùn)動的效率，本文研究了機(jī)器人運(yùn)動機(jī)構(gòu)與腸道之間的相互作用力對設(shè)備自主運(yùn)動的影響。方法針對擴(kuò)張-伸縮式機(jī)器人的運(yùn)動原理提出了兩個模型，即擴(kuò)張機(jī)構(gòu)與腸道之間的力學(xué)模型、機(jī)器人機(jī)身與腸道之間的力學(xué)模型，并在豬體外腸道環(huán)境下開展了實(shí)驗(yàn)驗(yàn)證。結(jié)果機(jī)器人機(jī)身與腸道之間的阻力在0.1~0.4 N之間；擴(kuò)張機(jī)構(gòu)與腸道之間的阻力在0.1~1.8 N之間，且與擴(kuò)張直徑成正比。擴(kuò)張機(jī)構(gòu)的擴(kuò)張直徑大于腸道直徑超過10 mm后，擴(kuò)張機(jī)構(gòu)受到的腸道阻力將明顯大于0.1~0.4 N，有利于有效駐留的產(chǎn)生。結(jié)論這種利用腿式結(jié)構(gòu)在腸道內(nèi)產(chǎn)生力學(xué)差使機(jī)器人實(shí)現(xiàn)在腸道內(nèi)自主運(yùn)動的方式，以及腿式結(jié)構(gòu)與腸道之間的力學(xué)模型能對胃腸道機(jī)器人的設(shè)計(jì)提供參考。

Objective Robotic intestinal endoscope is a new generation of intestinal diseases diagnosis equipment. In order to improve the autonomous locomotion efficiency of such devices in the intestinal environment, the motion mechanism and the interaction between intestine and the equipment is researched in the paper. Methods Two models are proposed based on the principle of the expanding-extending robot, which are respectively the mechanical model between expansion mechanism and the intestine, and the mechanical model between the robot body and the intestine. We carry out the experiment in vitro pig gut. Results The experimental results show that the resistance between the robot body and the intestinal tract is between 0.1N and 0.4N. The resistance between the expanding mechanism and the intestine is between 0.1 and 1.8N, which is proportional to the expansion diameter. Conclusions When the expansion of the expanding mechanism is larger than the diameter of the intestinal tract more than 10mm, the resistance of the expansion mechanism in the intestine will be significantly greater than 0.1-0.4 N, which is conducive to the effective anchor. The models can provide reference for the design of gastrointestinal robot.

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