New pneumatic rubber actuators to assist colonoscope insertion
New pneumatic rubber actuators to assist colonoscope insertion
复制标题
新型气动橡胶执行器协助结肠镜插入
DOI：
10.1109/robot.2006.1641971
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
T. Kanda
中科院分区：
文献类型：
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作者：
K. Suzumori;T. Hama;T. Kanda
将内窥镜插入结肠需要非常技术性的程序，在某些情况下即使是经验丰富的医生也很困难。虽然已经研究了主动结肠镜，但这些仪器仍处于开发阶段。用于该应用的机构需要足够柔软以不损伤结肠壁，并且足够可变形以适应结肠的曲线。此外，机构必须产生足够的分布力用于行进。这些要求是难以满足使用传统的机构和致动器。设计开发了两种新型的气动橡胶驱动机构，并进行了可行性试验。一种机制是“细管波发生器”：将脉冲气动流引入薄橡胶管，在管表面上产生行进变形波，从而驱动放置在管上的物体。另一种机制是"圆形起泡器"：一个橡胶管，其中有四个腔室，是围绕结肠镜缠绕，造成旅行变形波的范围内的表面上发送气动压力，以每个腔室顺序。本文首先讨论了这两种机构的驱动机构、气动控制系统和基本特性。然后，在基本实验讨论的基础上，我们制作了特殊的橡胶机构来安装在传统结肠镜周围，并使用肠道模型和现有的结肠镜在各种条件下进行了插入实验。实验结果很有希望
Inserting an endoscope into colon requires very technical procedure and it is difficult in some cases even for experienced doctors. Although active colonoscopes have been researched, these instruments are still in the development stage. Mechanisms for this application are required to be soft enough not to injure the colon wall and being deformable enough to adapt to the curves of the colon. In addition, the mechanisms must generate distributed force adequate for traveling. These requirements are difficult to be satisfied using conventional mechanisms and actuators. We have designed and developed two types of new driving mechanism using pneumatic rubber actuators and made their feasibility tests. One mechanism is "thin tube wave generator": introducing pulse pneumatic flows to a thin rubber tube causes traveling deformation waves on the tube surface, which drives an object placed on the tube. The other mechanism is "round bubbler": a rubber tube which has four chambers in it is wound around the colonoscope to cause traveling deformation waves on the scope surface by sending pneumatic pressures to each chamber sequentially. In this paper, first, we discuss the driving mechanisms, pneumatic control systems, and basic characteristics of these two mechanisms. Then, based on the basic experimental discussions, we fabricated special rubber mechanisms to fit around a conventional colonoscope, and conducted insertion experiments using an intestinum model and an existing colonoscope under various conditions. The experimental results are very promising