Pneumatically deployed net system for endoscopic removal of foreign object
Pneumatically deployed net system for endoscopic removal of foreign object
复制标题
用于内窥镜清除异物的气动展开网系统
DOI：
10.1109/memsys.2011.5734351
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
C. Kim
中科院分区：
文献类型：
--
作者：
W. Choi;V. Rubtsov;C. Kim
内窥镜工具广泛用于在包括医疗应用的各种应用中从难以到达的区域移除异物。然而，通常用于这种内窥镜移除的金属抓取器总是承担意外损坏周围表面或丢失抓取物体的风险。使用柔性抓取系统，如网，将大大减少这种风险，轻轻地处理物体，并在接触周围环境时屈服。本研究提出一种新的物件移除方案，利用具有物件锁定的柔性抓取系统，并沿着以一张可操作的网及指定的吊钩来实现。
Endoscopic tools are widely used for removal of a foreign object from hard-to-reach areas in various applications including medical ones. However, metallic grabbers typically used for such endoscopic removal always bear the risk of accidently damaging surrounding surfaces or losing the grabbed object. Use of flexible grabbing systems such as a net would greatly reduce such risks by gently handling the object and yielding upon contact with the surroundings. In this study, a new object removing plan using a flexible grabbing system with object-locking is presented along with its realization through a pneumatically operated net and designated hook.