Shape memory micro-actuation for a gastro-intestinal intervention system
Shape memory micro-actuation for a gastro-intestinal intervention system
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DOI：
10.1016/s0924-4247(99)00191-0
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发表时间：
1999-10-12
影响因子：
4.6
通讯作者：
Van Brussel, H
中科院分区：
文献类型：
--
作者：
Reynaerts, D;Peirs, J;Van Brussel, H
介绍了一种基于尺蠖型移动的机器人的胃肠介入系统原型的设计。这种类型的设备是一种用于通过结肠进行检查的车辆，由于肠道系统中的大量转弯，目前这是不可能的。最终，将来可以增加干预工具。整个系统长约95 mm，直径为15 mm。机器人由三个主要模块组成：一个伸展和收缩模块，一个两个自由度的弯曲模块和两个锁定模块。所有这些模块都由形状记忆元件驱动。本文的主体部分介绍了一种实现弯曲运动的模块化驱动器。该设计可以与单个椎骨相比较，其中堆叠几个元件可以形成脊柱。结果表明，这种设计大大方便了控制。不同部件的机电互连是设计的一个组成部分，也是选择性地处理不同致动器的技术。为了提高所提出的设计的性能，本文的最后一部分讨论了形状记忆元件的一些生产方面。(C)1999年Elsevier Science S.A. All rights reserved.
This paper describes the design of a prototype gastro-intestinal intervention system based on an inchworm-type of mobile robot. This type of device is a kind of vehicle for inspection through the colon, something that is currently impossible due to the large number of turns in the intestinal system. Eventually, tools for intervention can be added in the future. The overall system is about 95 mm long and has a diameter of 15 mm. The robot consists of three main modules: an extension and contraction module, a two degree-of-freedom bending module and two locking modules. All these modules are to be actuated by shape memory elements. The main part of the paper describes a modular actuator for realising bending motion. The design can be compared to a single vertebra, where stacking several elements can form a spinal column. It will be shown that this design greatly facilitates the control. The electromechanical interconnection of the different parts was an integral part of the design as well as techniques for selectively addressing the different actuators. In order to increase the performance of the proposed design, the last part of the paper discusses some production aspects of the shape memory elements. (C) 1999 Elsevier Science S.A. All rights reserved.