北京生物醫(yī)學(xué)工程

直流電機驅(qū)動仿尺護(hù)式微型胃腸道機器人的設(shè)計

Design of an inchworm locomotive miniature gastrointestinal robot driven by DC motor

作者：史玉婷姜萍萍顏國正林蔚

單位：上海交通大學(xué)電子信息與電氣工程學(xué)院 (上海 200240)

分類號：

出版年·卷·期（頁碼）：2012·31·3（225-230）

摘要：

目的針對現(xiàn)有胃腸道檢測方法的被動運動方式的缺點，設(shè)計了在腸道（尤指小腸）內(nèi)主動運動的微型腸道機器人。方法機器人采取仿尺護(hù)式的運動方式，由以直流電機驅(qū)動的3個獨立機構(gòu)組成，其中的中間機構(gòu)是軸向伸縮機構(gòu)，兩端是徑向鉗位機構(gòu)。機器人通過步態(tài)的配合，完成機器人在腸道內(nèi)的前進(jìn)、后退和停留。組裝好的機器人收縮時尺寸為13 mm×80 mm，機器人軸向步距為14 mm，徑向步距為4 mm。結(jié)果對機器人結(jié)構(gòu)進(jìn)行速度和傳動效率分析，得到機器人理論速度為0.8 mm/s，最大徑向力和軸向推力分別是5 N和9.6 N。組裝好機器人并讓其在體外腸道內(nèi)進(jìn)行爬行實驗。結(jié)論該仿尺護(hù)式直流電機驅(qū)動的微型胃腸道機器人在腸道內(nèi)可以實現(xiàn)主動運動。

Objective To design an active locomotive robot to examine the gastrointestinal tract (especially the small intestine) as current gastrointestinal inspection methods are in passive locomotion mode.Methods The robot is composed of three individual sections,driven by DC motors,and moves in the inchworm locomotive mode.The middle unit is an axial extensor,and the two terminal units are radial clampers.The robot can move forward and backward even clamp in the gat by the gait control.The size of assembled robot in shrink mode is 13mm×80mm.The axial step and radial step are 14mm and 4mm respectively.Results This paper analyzes the velocity and mechanical transmission efficiency of the robot,and figures out that the theoretical velocity is 0.8mm/s,the maximal axial and radial thrusts are 5 N and 9.6 N respectively.The robot is put in the intestinal tract for the experiment in vitro after the assembly of the robot.Conclusions The experiment proves that the inchworm locomotive robot driven by DC motor can move actively in the gastrointestinal tract.

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