A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy
A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy
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DOI：
10.1109/lra.2017.2678540
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发表时间：
2017-07-01
影响因子：
5.2
通讯作者：
Liu, Hongbin
中科院分区：
文献类型：
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作者：
Bernth, Julius E.;Arezzo, Alberto;Liu, Hongbin
这封信介绍了一种新型蠕虫启发，多段机器人内窥镜与多个自由度段的设计和评价。这种设计的新奇在于，机器人能够向前和向后驱动，锚本身，在管状结构内转向，并通过弯曲其柔性段来控制端部安装的摄像机的方向。机械设计和霍尔效应传感器的基础上的传感系统被纳入。在模拟结肠中，最高速度为1.21 mm/s，大约相当于理论最大速度的38%。这些结果进行了讨论，并提出了进一步的改进建议，然后一般的结论性意见。
This letter introduces the design and evaluation of a novel worm-inspired, multisegment robotic endoscope with multiple degrees of freedom segments. The novelty of this design is that the robot is able to drive forwards and backwards, anchor itself, steer while inside a tubular structure and control the orientation of an end-mounted camera all by bending its flexible segments. The mechanical design is shown and a sensing system based on Hall Effect sensors is incorporated. In a simulated colon, a top speed of 1.21 mm/s was achieved, equivalent to roughly 38% of the theoretical maximum. These results are discussed and further improvements are suggested, followed by general concluding remarks.