摘要
机器人主动内窥镜是利用机器人改造传统的纤维内窥镜的技术 ,以减少穿孔率、降低对插入技艺的依赖性和提高检测过程的自动化。作为机器人主动内窥镜的关键部分之一 ,本文探讨基于计算机气动阀控技术的蠕动原理、机构实现和系统实验等。
Robotic active endoscopy aims at modification of traditional fiber endoscopes with the robotic technology for the elimination of perforation, lowering the dependence on the sophisticated invading technique and promote endoscopic automation. As a part of active guiding for a robotic endoscope, the paper discusses the inchworm principle, the mechanism implementation and the prototype experiments for a newly developed inchworm robotic mechanism, Wormbot I.
出处
《机械与电子》
2001年第1期37-38,共2页
Machinery & Electronics
基金
上海市教育发展基金曙光计划资助项目.
关键词
医疗机器人
主动内窥镜
蠕动机构
medical robot
active endoscope
inchworm locomotion
