北京生物醫(yī)學工程

蠕動式微型胃腸道機器人的設(shè)計

Design of squirming micro-robot for gastrointestinal tract

作者：王益寧林蔚顏國正

單位：上海交通大學電子信息與電氣工程學院（上海 200240）

分類號：

出版年·卷·期（頁碼）：2012·31·2（183-187）

摘要：

目的為使機器人在胃腸道中主動運動以實現(xiàn)多種醫(yī)療功能，本文設(shè)計了一種通過多點接觸方式提高摩擦力，具有較高運動效率的蠕動式微型機器人。方法根據(jù)胃腸道的環(huán)境設(shè)計了機器人步態(tài)，選取帶減速器的微型無刷直流電機作為驅(qū)動器。并設(shè)計裝配了一套運動機構(gòu)，并著重分析了其中的軸向伸縮以及徑向多點接觸結(jié)構(gòu)。結(jié)果裝配后的機器人直徑13 mm，長度29 mm，質(zhì)量10.2 g。在3 V直流電壓驅(qū)動下可持續(xù)穩(wěn)定運行40 min以上。結(jié)論該蠕動式胃腸道檢測機器人系統(tǒng)實現(xiàn)了主動運動。

Objective In order to make the robot reside and move actively in the gastrointestinal (GI) tract to achieve a variety of medical functions，a squirming micro-robot was designed with high movement efficiency by using multipoint attachment to increase friction. Methods The gait of the proposed model was simulated and the appropriate brushless DC motor with gear reducer was selected according to the GI tract environment. A series of stretching mechanism was designed and assembled. The axial stretching mechanism and the radial multipoint attachment mechanism were analyzed emphatically. Results The diameter of the assembled robot was 13mm，the length was 29mm，and the quality was 10.2g. Driven by 3V DC voltage，the robot could operate constantly and stably for more than 40 minutes. Conclusions This squirming GI micro-robot system for inspection realized the active movement.

參考文獻：

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