肠道内窥镜活检机器人系统

摘要/Abstract

摘要：

基于肠道活检诊疗任务，设计了气囊钳位和活检机构，研制出肠道胶囊内窥镜机器人，完成了在肠道中的自主运动、视频检查和活检取样任务，并通过实验检测了肠道活检机器人系统的性能.结果表明：采用花瓣气囊能够减小容积，缩短打气时间，并使钳位力提高至1.56 N；所用活检钳的剪切力大于10 N，且活检过程可视、动作可重复；在无线供能条件下，所研制的系统运行稳定.

关键词: 肠道内窥镜, 机器人, 活检取样

Abstract:

Based on intestinal biopsy diagnosis demand, the gasbag anchoring mechanism and biospy mechanism were designed. The intestinal capsule endoscopy robot was developed which could move autonomously in the intestine and conduct video examination and biopsy. Experimental results show that the petals airbags can effectively increase the clamping force to 1.56 N, while reducing the volum. The shear force of biopsy forceps is greater than 10 N, which meets the requirements of visualization, and the biopsy motion is repeatable. With wireless power system, the system is stable and reliable.

Key words: intestinal endoscope, robot, biopsy

中图分类号:

陈雯雯，颜国正，王志武，刘华，姜萍萍. 肠道内窥镜活检机器人系统[J]. 上海交通大学学报（自然版）, 2014, 48(05): 674-678.

CHEN Wenwen,YAN Guozheng,WANG Zhiwu,LIU Hua,JIANG Pingping. Intestinal Biopsy Endoscopic Robot System

[J]. Journal of Shanghai Jiaotong University, 2014, 48(05): 674-678.

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