Design and experiment of an intestinal anchoring mechanism
Design and experiment of an intestinal anchoring mechanism
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DOI：
10.3788/ope.20152301.0102
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
贺术 He Shu;颜国正 Yan Guo-zheng;柯全 Ke Quan;王志武 Wang Zhi-wu
中科院分区：
文献类型：
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作者：
贺术 He Shu;颜国正 Yan Guo-zheng;柯全 Ke Quan;王志武 Wang Zhi-wu
为实现胃肠机器人内窥镜在人体肠道特殊环境下的有效锚定，设计了一种微型肠道锚定机构。该机制探索了一种通过三组腿呈放射状突出的扩张方式，由于三组腿在扩张后呈封闭结构，降低了肠道夹紧的风险。在每条腿的末端固定一个弯曲板，扩大腿与肠道的接触面积，减少对肠道的损伤。模拟了锚定机制与肠道的相互作用。将锚固力分为库仑摩擦和边际阻力两部分，分析了锚固力的作用机理。通过实验测试了膨胀力和锚固力。实验结果表明，锚定机构的膨胀力与理论分析接近，锚定力与肠道直径、锚定腿的膨胀直径和锚定机构的速度有关。锚固腿直径为20 ~ 26mm时，锚固力为0.15 ~ 0.4 n；当锚固腿直径大于26 mm时，锚固力在0.5 nm ~ 1.8 nm之间迅速增大。本文提出的锚固机构具有安全、体积小、适合肠道物理环境的特点。为微型机器人胃肠道诊断肠道锚定机构的设计提供了新的思路。
A miniature intestinal anchoring mechanism is designed to realize the effective anchor of a gastrointestinal robotic endoscope in the special environment of human intestine.The mechanism explores a kind of expansion method through protruding three sets of legs radially,which lowers the risk of intestinal clamping because the three sets of legs show a enclosed structure after expansion.At the terminal of every legs,a curved plate is fixed to enlarge the contacting area between legs and intestine,which reduces the damage to intestinal tract.The interaction between anchoring mechanism and intestinal tract is modeled.The anchoring force is divided into two parts,Coulomb friction and marginal resistance,and its mechanism is analyzed.The expanding force and anchoring force are tested through experiments.The experimental results show that the expanding force of the anchoring mechanism is close to the theoretical analysis,and the anchoring force is related to intestinal diameters,the expanding diameters of anchoring legs and the speed of the anchoring mechanism.When the diameters of the anchoring legs are 20—26mm,the anchoring force is 0.15—0.4N;when the diameters of anchoring legs are greater than 26 mm,the anchoring force increases rapidly between0.5Nand 1.8 N.The anchoring mechanism proposed in this paper is characterized by safe andasmaller volume and is suitable for the physical environment of the intestine.It provides a new idea for design of the intestinal anchoring mechanism for micro robots in gastro intestinal tract diagnosis.