中国组织工程研究2012，Vol.16Issue(26)：4857-4862,6.DOI:10.3969/j.issn.1673-8225.2012.26.021
仿生结肠诊断机器人运动系统
Movement system of bionic colon diagnostic robot
摘要
Abstract
BACKGROUND: Recently, the research of colon diagnostic robot has been opened up in several research institutes with the ultimate goal of using for clinical application. The developed robot was small-size, autonomous control and a kind of collection of diagnostic and cure.OBJECTIVE: To design an inchworm-like colon diagnostic robot for diagnosing the colon tumors.METHODS: The robot was driven by the micro motor. The axial mechanism realized the function that stretching out and drawing back on both way. A stroke step of the robot was 32.8 mm. The radial mechanism realized the function that clamping the colon for long-diameter. The maximum size of clamping diameter was 58.7 mm. The camera in the front of the robot worked as a visual navigation. The biopsying mechanism could finish a whole biopsying operation.RESULTS AND CONCLUSION: The experiments were preformed in the glass tube and pig intestines, the robot could move forward, backward and park. That validates the robot is practicability.关键词
机器人/微型直流电机/径向钳位/轴向伸缩/活检/数字化医学分类
医药卫生引用本文复制引用
高媛,颜国正,高鹏,陈雯雯,刘华..仿生结肠诊断机器人运动系统[J].中国组织工程研究,2012,16(26):4857-4862,6.基金项目
国家863计划资助项目(2007AA04Z234、2008AA04Z201) （2007AA04Z234、2008AA04Z201）
国家自然科学基金资助项目(60875061、31170968)资助. （60875061、31170968）
