北京生物医学工程2012，Vol.31Issue(2)：183-187,5.DOI:10.3969/j.issn.1002-3208.2012.02.15.
蠕动式微型胃肠道机器人的设计
Design of squirming micro-robot for gastrointestinal tract
摘要
Abstract
Objective In order to make the robot reside and move actively in the gastrointestinal (GI) tract to achieve a variety of medical functions, a squirming micro-robot was designed with high movement efficiency by using multipoint attachment to increase friction. Methods The gait of the proposed model was simulated and the appropriate brushless DC motor with gear reducer was selected according to the GI tract environment. A series of stretching mechanism was designed and assembled. The axial stretching mechanism and the radial multipoint attachment mechanism were analyzed emphatically. Results The diameter of the assembled robot was 13mm, the length was 29mm, and the quality was 10. 2g. Driven by 3 V DC voltage, the robot could operate constantly and stably for more than 40 minutes. Conclusions This squirming GI micro-robot system for inspection realized the active movement.关键词
胃肠道机器人/多点接触/蠕动式/伸缩机构Key words
gastrointestinal tract robot/ multipoint attachment/ squirming/ stretching mechanism分类
医药卫生引用本文复制引用
王益宁,林蔚,颜国正..蠕动式微型胃肠道机器人的设计[J].北京生物医学工程,2012,31(2):183-187,5.基金项目
国家自然基金(60875061,30800235)、国家863计划(2007AA04Z234)、上海市科委项目(09DZ1907400)资助 （60875061,30800235）
