| An Active Endoscopy Robotic System for Direct Tracheal Inspection |
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| 作者姓名： | 于莲芝 颜国正 马官营 昝鹏 |
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| 作者单位： | [1]School of Electronic, Information and Electrical Eng. , Shanghai Jiaotong Univ. , Shanghai 200240, China [2]College of Optoelectric ＆ Electric Information Eng. , Univ. of Shanghai for Science and Technology, Shanghai 200093, China |
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | The development of active endoscopy techniques is one important area of medical robot.This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection.The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator.There are five air chambers controlled independently,by adjusting pressures in air chambers,the robot can move in a straight mode or in a bending mode.The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed.The robot could move smoothly in a small plastic tube,and the robot is respectable to be used for inspection in human trachea directly.
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| 关 键 词： | 人体气管 机器人 活性内镜检查术系统 视察 |
| 文章编号： | 1007-1172（2007）02-0159-05 |
| 修稿时间： | 2005-11-18 |
An Active Endoscopy Robotic System for Direct Tracheal Inspection |
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| YU Lian-zhi,YAN Guo-zheng,MA Guan-ying,ZAN Peng.An Active Endoscopy Robotic System for Direct Tracheal Inspection[J].Journal of Shanghai Jiaotong university,2007,12(2):159-163. |
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| Authors: | YU Lian-zhi YAN Guo-zheng MA Guan-ying ZAN Peng |
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| Abstract: | The development of active endoscopy techniques is one important area of medical robot.This paper designed a new flexible and active endoscopy robotic system for direct tracheal inspection.The mobile mechanism of the robot is based on the inchworm movement actuated by pneumatic rubber actuator.There are five air chambers controlled independently,by adjusting pressures in air chambers,the robot can move in a straight mode or in a bending mode.The inspection sensors and some therapy surgery tools can be equipped in the front of the robot.The prototype was made and its mechanical characteristics were analyzed.The robot could move smoothly in a small plastic tube,and the robot is respectable to be used for inspection in human trachea directly. |
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| Keywords: | active endoscopy robotic system pneumatic rubber actuator flexible mechanism human trachea inspection |
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