A miniature manipulator for integration in a self-propelling endoscope
A miniature manipulator for integration in a self-propelling endoscope
复制标题
用于集成在自推进内窥镜中的微型机械手
DOI：
10.1016/s0924-4247(01)00570-2
复制
发表时间：
2000
影响因子：
4.6
通讯作者：
H. V. Brussel
中科院分区：
文献类型：
--
作者：
J. Peirs;D. Reynaerts;H. V. Brussel
本文提出了一种微型机器人机械手集成在自推进内窥镜。内窥镜的目的是检查和干预人体结肠，它通过尺蠖运动移动。机械手用于定向相机和工具，具有两个弯曲自由度（±40°）。它由两个模块组成，由一个带蜗轮减速的电磁电机驱动。每个模块的直径为12.4mm，长度为20mm。带集成摄像头的总臂长40 mm。此外，还建造了一个直径为8.5mm的单自由度的简化版本。尺寸和性能与以前开发的原型进行比较。
This paper presents a miniature robotic manipulator for integration in a self-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inchworm motion. The manipulator is used to orient camera and tools and has two bending degrees of freedom (±40°). It consists of two modules driven by an electromagnetic motor with worm gear reduction. Each module is 12.4mm in diameter and 20mm long. The total arm with integrated camera is 40mm long. Also a miniaturised version has been built, having a diameter of 8.5mm and one degree of freedom. Size and performance are compared with previously developed prototypes.