一次性内窥镜尖端驱动设计与机器人平台。

Disposable endoscope tip actuation design and robotic platform.

作者信息

Chen Yi, Tanaka Shigehiko, Hunter Ian W

机构信息

Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, MA 02139, USA.

出版信息

Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:2279-82. doi: 10.1109/IEMBS.2010.5627677.

DOI:10.1109/IEMBS.2010.5627677

PMID:21097015

Abstract

A disposable endoscopic platform with actuation motors inside the body of the endoscope is presented. This platform can enable new medical devices for diagnosis and for minimally invasive surgeries. This paper addresses mechanical and safety issues with existing endoscope technologies by incorporating disposability, safety modules, and lower cable forces. In order to produce path-independent cable forces, motors are incorporated in the body of the endoscope near the bending tip. Results for tip forces are shown accompanied by an analytical model describing the scaling laws for this type of robotic architecture. The system under development will provide a platform for research into haptic control and perceptual feedback.

摘要

本文介绍了一种在内窥镜主体内部带有驱动电机的一次性内窥镜平台。该平台可实现用于诊断和微创手术的新型医疗设备。本文通过引入一次性使用、安全模块和降低线缆拉力等方式，解决了现有内窥镜技术的机械和安全问题。为了产生与路径无关的线缆拉力，在内窥镜靠近弯曲尖端的主体部位内置了电机。文中展示了尖端力的测试结果，并附带了一个描述此类机器人架构缩放定律的分析模型。正在研发的该系统将为触觉控制和感知反馈研究提供一个平台。