Biomechanics Department, Lab of Artificial Tactile Sensing and Robotic Surgery, Faculty of Biomedical Engineering, Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran.
Int J Med Robot. 2013 Sep;9(3):371-8. doi: 10.1002/rcs.1510. Epub 2013 Jul 7.
The pathological conditions of the human colon may lead to cancer of the colon, which is one of the most common diseases of the gastrointestinal tract. Colonoscopy is the best diagnostic technique that can be used in colon cancer detection. However, many people do not accept this method due to the unpleasant experience, i.e. if it is not performed under sedation. As a result, changing the conventional colonoscopy into a robotic procedure seems beneficial.
In this work, a semi-autonomous device capable of propelling itself along the flexible environment has been introduced. This robot is capable of advancing along intestinal turns such as the turn between the transverse and descending colon. Control of the robot's worm-like part has been investigated via dynamic simulations as well as computer programming.
The simulations resulted in workspace analysis of the robot. A prototype of the robot verified the performance of the computer program.
The real model revealed the applicability of the method in controlling cable-driven worm-like mechanisms.
人类结肠的病理状况可能导致结肠癌，这是胃肠道最常见的疾病之一。结肠镜检查是结肠癌检测中最好的诊断技术。然而，由于不愉快的体验，许多人不接受这种方法，即如果不在镇静下进行。因此，将传统的结肠镜检查转变为机器人程序似乎是有益的。
在这项工作中，引入了一种能够在柔性环境中自行推进的半自动装置。该机器人能够沿着肠道转弯前进，例如横结肠和降结肠之间的转弯。通过动态模拟和计算机编程对机器人蠕虫状部分的控制进行了研究。
模拟结果对机器人的工作空间进行了分析。机器人的原型验证了计算机程序的性能。
实际模型表明，该方法在控制缆索驱动的蠕虫状机构方面具有适用性。
