Design and testing of a novel gastrointestinal microrobot
Design and testing of a novel gastrointestinal microrobot
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新型胃肠微型机器人的设计与测试
DOI：
10.1007/s10544-019-0438-1
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发表时间：
2020-11
影响因子：
2.8
通讯作者：
Pu Pengxian
中科院分区：
文献类型：
--
作者：
Wang Wei;Yan Guozheng;Han Ding;Meng Yicun;Pu Pengxian
为了提高胃肠微机器人的可靠性、安全性和全消化道适应性，提出了一种新型的尺蠖型胃肠微机器人。该机器人的伸缩机构采用重叠式伸缩臂结构。这种结构将机器人的可变直径比（完全展开直径与完全折叠直径的比率）提高到3.3，使机器人更适用于人体各部位的肠道。建立了扩径臂的力学模型，得到了不同扩径半径下的扩径力。然后利用测力平台对扩径力进行测试。测力结果：最大扩张力为6.5 N，最小扩张力为1.3 N。实验值与理论值的变化趋势一致，实验值小于理论值。设计了一种基于霍尔传感器的限位装置，以非接触方式检测机构是否到达极限位置。该装置消除了电机失速引起的电压骤降问题，提高了控制电路的稳定性。霍尔式限位装置（HPLD）的测试结果表明，采用HPLD的伸缩机构和伸缩机构的工作电流分别为0.066A和0.110A，机器人控制电路工作稳定。最后，在活体猪肠道内对机器人进行了测试，验证了机器人的安全性和可靠性。然而，由于体内实验中无线电能传输效率的降低以及接收线圈相对于发射线圈的位置变化，有时会出现供电不足的情况。
In order to improve the reliability, safety and whole digestive applicability of the gastrointestinal microrobot (GMR), a novel inchworm-like GMR is proposed in this paper. The expanding mechanism of the robot adopts an overlapping expanding arm structure. This structure increases the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) of the robot to 3.3, making the robot more applicable to the intestines in various parts of the human body. The mechanical model of the expanding arm is established, and the expanding force at different expanding radii is obtained. And then the expanding force is tested by a force test platform. The force test results: the maximum expanding force is 6.5 N, and the minimum expanding force is 1.3 N. The trend of the experimental and theoretical values is the same, and the experimental value is less than the theoretical value. A position limiting device based on Hall sensor is designed, which detects whether the mechanism reaches the limit position by non-contact method. This device alleviates the problem of sharp voltage drop caused by motor stall and improves the stability of the control circuit. The results of the Hall-type position limiting device (HPLD) testing show that the working currents of the expanding mechanism and the telescoping mechanism with HPLD are respectively 0.066A and 0.110A, and the robot control circuit works stably. Finally, the robot is tested in the intestine of the living pig, and the safety and reliability of the robot are verified. However, due to the decrease of the efficiency of wireless power transmissionin vivoexperiments and the change of the position of the receiving coil relative to the transmitting coil, sometimes the power supply is insufficient.
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DOI：
10.3788/ope.20152301.0102
发表时间：
2015
期刊：
Optics and Precision Engineering
影响因子：
--
作者：
贺术 He Shu;颜国正 Yan Guo-zheng;柯全 Ke Quan;王志武 Wang Zhi-wu
通讯作者：
贺术 He Shu;颜国正 Yan Guo-zheng;柯全 Ke Quan;王志武 Wang Zhi-wu
DOI：
10.1109/tmech.2009.2039942
发表时间：
2011-04
期刊：
IEEE Transaction on Mechatronics
影响因子：
--
作者：
张永顺
通讯作者：
张永顺
影响因子：
6.4
作者：
Gao, Jinyang;Yan, Guozheng;Liu, Dasheng
通讯作者：
Liu, Dasheng
影响因子：
6.4
作者：
Kim, B;Lee, S;Park, JO
通讯作者：
Park, JO
影响因子：
2.8
作者：
Hao Zhou;G. Alici;F. Munoz
通讯作者：
Hao Zhou;G. Alici;F. Munoz