目的 针对现有胃肠道检测方法的被动运动方式的缺点,设计了在肠道(尤指小肠)内主动运动的微型肠道机器人.方法 机器人采取仿尺護式的运动方式,由以直流电机驱动的3个独立机构组成,其中的中间机构是轴向伸缩机构,两端是径向钳位机构.机器人通过步态的配合,完成机器人在肠道内的前进、后退和停留.组装好的机器人收缩时尺寸为13 mm×80 mm,机器人轴向步距为14 mm,径向步距为4 mm.结果 对机器人结构进行速度和传动效率分析,得到机器人理论速度为0.8 mm/s,最大径向力和轴向推力分别是5 N和9.6 N.组装好机器人并让其在体外肠道内进行爬行实验.结论 该仿尺護式直流电机驱动的微型胃肠道机器人在肠道内可以实现主动运动.%Objective To design an active locomotive robot to examine the gastrointestinal tract ( especially the small intestine ) as current gastrointestinal inspection methods are in passive locomotion mode. Methods The robot is composed of three individual sections, driven by DC motors, and moves in the inchworm locomotive mode. The middle unit is an axial extensor, and the two terminal units are radial clampers. The robot can move forward and backward even clamp in the gat by the gait control. The size of assembled robot in shrink mode is 4>13mm x 80mm. The axial step and radial step are 14mm and 4mm respectively. Results This paper analyzes the velocity and mechanical transmission efficiency of the robot, and figures out that the theoretical velocity is 0. 8mm/s,the maximal axial and radial thrusts are 5 N and 9. 6 N respectively. The robot is put in the intestinal tract for the experiment in vitro after the assembly of the robot. Conclusions The experiment proves that the inchworm locomotive robot driven by DC motor can move actively in the gastrointestinal tract.
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