北京生物醫(yī)學(xué)工程

仿尺蠖氣動(dòng)腸道微機(jī)器人運(yùn)動(dòng)系統(tǒng)

Locomotion system of pneumatic inchworm-like microrobot for intestinal tract

作者：高鵬顏國(guó)正

單位：上海宇航系統(tǒng)工程研究所（上海201108）

關(guān)鍵詞：微機(jī)器人；尺蠖運(yùn)動(dòng)；氣體驅(qū)動(dòng)；腸道診斷

分類號(hào)：

出版年·卷·期（頁(yè)碼）：2012·31·5（487-493）

摘要：

目的腸道微機(jī)器人的設(shè)計(jì)采用仿尺蠖氣動(dòng)運(yùn)動(dòng)系統(tǒng)，以更好地?zé)o創(chuàng)診斷人體腸道。方法機(jī)器人采用單節(jié)尺蠖結(jié)構(gòu)，利用薄壁氣囊和伸縮氣缸作為徑向鉗位機(jī)構(gòu)和軸向伸縮機(jī)構(gòu)。氣動(dòng)系統(tǒng)由微型真空泵和流體分配器構(gòu)成。該系統(tǒng)在流體分配器的控制下，微型真空泵可以驅(qū)動(dòng)各運(yùn)動(dòng)機(jī)構(gòu)，實(shí)現(xiàn)微機(jī)器人的主動(dòng)運(yùn)動(dòng)。研制的機(jī)器人運(yùn)動(dòng)系統(tǒng)樣機(jī)直徑20 mm，長(zhǎng)105 mm，質(zhì)量109.15 g，可實(shí)現(xiàn)42.4 mm的徑向變形和35 mm的軸向步距。測(cè)量了運(yùn)動(dòng)機(jī)構(gòu)的輸出驅(qū)動(dòng)力，并測(cè)試了機(jī)器人樣機(jī)在不同運(yùn)動(dòng)環(huán)境下的運(yùn)動(dòng)性能。結(jié)果氣動(dòng)驅(qū)動(dòng)系統(tǒng)能夠向運(yùn)動(dòng)機(jī)構(gòu)提供充足的驅(qū)動(dòng)力，伸縮機(jī)構(gòu)可以輸出最大1.82 N的推力，鉗位氣囊最大鉗位壓強(qiáng)為23.69 kPa，機(jī)器人能夠在不同角度的剛性管道中運(yùn)動(dòng)，并且在離體豬結(jié)腸中也能夠有效運(yùn)動(dòng)。結(jié)論仿尺蠖氣動(dòng)腸道微機(jī)器人運(yùn)動(dòng)系統(tǒng)為人體腸道機(jī)器人內(nèi)窺鏡研究提供了一種有效途徑。

Objective To advance the minially invasive diagnosis in the intestinal tract, this paper presents a pneumatic inchworm-like locomotion system of the intestinal microrobot. Methods The robot with a single inchworm-like mechanism uses the thin-wall balloon as radial clamping machanism and the telescopic cylinder as axial telescopic mechanism. The pneumatic system is composed of a micro vacuum pump and a flow distributor. Under the control of the flow distributor, the vacuum pump can actuate all locomotion mechanisms to realise the acitive locomotion. A robotic prototype of 20 mm diameter, 105 mm length and 109.15 g weight can realize 42.4 mm radial deformation and 35 mm axial stroke. We measured the output forces of the locomotion mechanisms and tested the locomotion performance of the robot in different environments. Results The pneumatic system can supply the enough driving forces for the locomotion mechanisms. The telescopic mechnism can output the maximum traction of 1.82 N, and the clamping balloon can provide the maximum pressure of 23.69 kPa. The robot can not only move in the rigid pipe with different slope angles, but also in the porcine colon in vitro. Conclusions The pneumatic inchworm-like locomotion system provides an effetive way for the research on the robotic endoscope in the intestinal tract.

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