An Earthworm-Like Robotic Endoscope System for Human Intestine: Design, Analysis, and Experiment
An Earthworm-Like Robotic Endoscope System for Human Intestine: Design, Analysis, and Experiment
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人体肠道类蚯蚓机器人内窥镜系统：设计、分析和实验
DOI：
10.1007/s10439-008-9597-6
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发表时间：
2009-01-01
影响因子：
3.8
通讯作者：
Ye, Dongdong
中科院分区：
文献类型：
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作者：
Wang, Kundong;Yan, Guozheng;Ye, Dongdong
现有的内窥镜由于其细长且坚硬的杆状物难以通过人体肠的a、c环，给患者带来了太多的不适。机器人内窥镜作为一种新的解决方案，有望在临床上取代现有的内窥镜。研制了一种基于无线电源的微型机器人内窥镜。该机器人主要由运动机构、无线供电子系统和通信子系统组成。该运动机构由三个线性驱动单元组成，通过二自由度万向节相互连接。无线供电子系统由谐振发射线圈发射交变磁场和二次线圈接收功率组成。无线通信系统可以将图像传输到监视器，或向机器人发送控制命令。整个机器人被包装在防水风箱里。在某种节奏下激活三个驱动细胞，机器人可以像蠕虫一样向前或向后爬行。建立了能量耦合效率的数学模型。通过实验验证了该方法的效率和能量传递能力。结果表明，该无线电源具有足够的功率容量。通过体外实验，测定了猪肠的运动速度和导航能力。结果表明，这个机器人可以很容易地在肠道中导航。一般来说，无线供电和无线通信消除了对连接线的需要，提高了运动灵活性。同时，所提出的运动机制和原理可靠性高，对离体肠道具有良好的适应性。本研究为未来机器人内窥镜的实际应用奠定了良好的基础。
The existing endoscope brings too much discomfort to patients because its slim and rigid rod is difficult to pass through a, c loop of the human intestine. A robotic endoscope, as a novel solution, is expected to replace the current endoscope in clinic. A microrobotic endoscope based on wireless power supply was developed in this paper. This robot is mainly composed of a locomotion mechanism, a wireless power supply subsystem, and a communication subsystem. The locomotion mechanism is composed of three liner-driving cells connected with each other through a two-freedom universal joint. The wireless power supply subsystem is composed of a resonance transmit coil to transmit an alternating magnetic field, and a secondary coil to receive the power. Wireless communication system could transmit the image to the monitor, or send the control commands to the robot. The whole robot was packaged in the waterproof bellows. Activating the three driving cells under some rhythm, the robot could creep forward or backward as a worm. A mathematic model is built to express the energy coupling efficiency. Some experiments are performed to test the efficiency and the capability of energy transferring. The results show the wireless energy supply has enough power capacity. The velocity and the navigation ability in a pig intestine were measured in in vitro experiments. The results demonstrated this robot can navigate the intestine easily. In general, the wireless power supply and the wireless communication remove the need of a connecting wire and improve the motion flexibility. Meanwhile, the presented locomotion mechanism and principle have a high reliability and a good adaptability to the in vitro intestine. This research has laid a good foundation for the real application of the robotic endoscope in the future.