一种新型双半球形胶囊机器人

doi:10.3901/JME.2017.15.110

摘要/Abstract

摘要： 为了实现食管、胃部和结肠等非结构宽裕环境内的介入诊疗作业，提出一种主被动模态双半球胶囊机器人，通过空间万向旋转磁场可控制两种模态相互转换，机器人采用被动模态实现"悬停"调姿，采用主动模态实现滚动行走。研究双半球胶囊机器人主被动模态转换机理，推导被动模态下"悬停"姿态调整力学模型与主动模态下滚动力学模型，确定胶囊"悬停"调姿稳定性条件，试验表明该双半球胶囊机器人可实现定点"悬停"调姿下的全景观察与沿弯曲环境滚动行走。双重作业模态分离关键技术的突破为构成集窥视、诊疗为一体的胶囊机器人系统，实现胃肠非结构宽裕环境内遍历检查与医疗作业奠定了基础。

关键词: 滚动行走, 双重模态转换机理, 悬停调姿, 主被动双半球胶囊

Abstract: To realize interventional diagnosis and treatment of the capsule robots used in some regions of the GI tract with unstructured spacious environment such as esophagus, stomach, colon and etc., a magnetically actuated dual hemisphere capsule robot with convertible active and passive modes is proposed. Interconversion between active and passive modes of a dual hemisphere capsule robot can be realized by a spatial universal rotating magnetic vector, the robot manipulates the orientation adjusting of the device hoveringly over the downside hemisphere in the passive mode and rolling locomotion for climbing in the active mode. Conversion mechanism between active and passive modes is investigated, magnetic dynamics model for adjusting the orientation of the device hoveringly over the downside hemisphere in the passive mode and the rolling locomotion for climbing in the active mode are derived in this paper, the stability condition for adjusting the orientation hoveringly is determined, the experiments have shown that the hovering orientation adjustment for panoramic observation in the passive mode and the rolling locomotion of the device in the active mode along the curving GI tract can be realized stably. The breakthrough of the key technology, which can separate the hovering orientation adjustment mode from the rolling locomotion mode of the device, will form a medical capsule robot system with integrated functions such as inspecting and medical treatment as to lay a foundation for all-over inspection and medical operation inside the GI tract of human body.

Key words: conversion mechanism between active and passive modes, dual hemisphere capsule with active and passive modes, rolling locomotion, stability of the hovering orientation adjustment

中图分类号:

TP242

张永顺, 周华涛, 张林霞, 杨慧远. 一种新型双半球形胶囊机器人[J]. 机械工程学报, 2017, 53(15): 110-118.

ZHANG Yongshun, ZHOU Huatao, ZHANG Linxia, YANG Huiyuan. A New Kind of Dual Hemisphere Capsule Robot[J]. Journal of Mechanical Engineering, 2017, 53(15): 110-118.

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http://www.cjmenet.com.cn/CN/Y2017/V53/I15/110

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