基于蚯蚓运动原理的肠道检查微小机器人内窥镜系统

本文比较了传统的内窥镜系统和机器人内窥镜系统的差别，又对机器人内窥镜系统的工作环境——人体肠道内部的状况作了详细讨论，由此提出了机器人内窥镜系统的设计要求．介绍了一种基于蚯蚓运动原理的微小机器人内窥镜系统，对微小机器人机体的构造及其驱动原理作了分析，选择了一种适合的驱动方式，确定了单一构件磁感应强度的标定方法．实验证明，微小机器人的运行是平稳的．下一步的研究集中于对机器人在肠道内表面行走机理的研究和机器人的发热问题上．

A NOVEL MINIATURE ROBOTIC ENDOSCOPE DESIGN FOR INTESTINAL INSPECTIN BASED ON EARTHWORM

As a part of MIS (Minimally Invasive Surgery), endoscope plays an important role in the field of diagnosis and treatment. To combine a miniature robot with an endoscope is a new dimension in the field of medical robotics in recent years. Overcoming the shortcomings of the traditional endoscope, robotic endoscope applies new materials and technologies to the design of endoscope and booms the development of new type of endoscope. This paper compares the traditional endoscope system with robotic endoscope system and discusses the human intestine working conditions for the robotic endoscope system in detail. The design requirements of the robotic endoscope system are put forward. An earthworm based robotic endoscope system is introduced and the structure and locomotion mechanism analyzed in detail. Though the running of robot is good, there are still some problems, such as heat generation and locomotion mechanism on the inner intestinal surface, which need to be solved.