主从式胃镜介入机器人系统

发布时间：2018-05-03 17:28

本文选题：消化道疾病 + 胃镜介入　；参考：《机器人》2016年01期

【摘要】：针对胃镜操作难度高、医生工作强度大、消化液污染以及X射线辐射等问题,提出了主从式胃镜辅助介入机器人系统.在充分分析医生手动操作胃镜特点的基础上,将机器人分为镜体输送机械臂与镜体操作机械臂两部分.镜体输送机械臂调整镜体相对于病人口部的位姿,并完成插镜动作;对镜体输送被动臂进行逆运动学分析,确定各关节参数与基座位置;对输送器与镜体间作用力进行分析以确定输送电动机输出力矩.镜体操作机械臂控制操作部完成镜体旋转、操作部跟随、末端弯曲以及送气送水和抽吸功能.采用手柄实现对胃镜介入操作的主从控制,完成手柄与镜体在动作上的直观映射.在体外测试实验之后,进行活体动物实验发现机器人系统可完成对镜体的各项操作且未发现对组织造成损伤.实验结果表明,本文提出的胃镜辅助介入机器人系统可直观有效地完成胃镜介入,降低了操作难度,符合人类工程学设计.
[Abstract]:A master-slave gastroscope assisted interventional robot system was proposed to solve the problems such as difficult operation of gastroscope, high working intensity of doctors, contamination of digestive fluid and X-ray radiation. On the basis of fully analyzing the characteristics of the doctor's manual operation of gastroscope, the robot is divided into two parts: the mirror conveying manipulator and the mirror operated manipulator. The mirror conveying arm adjusts the position and posture of the mirror body relative to the patient's mouth and completes the insertion of the mirror. The inverse kinematics analysis of the mirror conveying passive arm is carried out to determine the joint parameters and the position of the base. The force between the conveyer and the mirror is analyzed to determine the output torque of the motor. The mirror body operation manipulator controls the mirror body rotation, the operation part follows, the end bend, and the air supply and suction function. The master-slave control of gastroscope intervention is realized by using the handle, and the visual mapping between the handle and the mirror is completed. After the in vitro test, it was found that the robot system could perform all kinds of operation on the vitreous body and no damage to the tissue was found. The experimental results show that the gastroscope assisted interventional robot system proposed in this paper can directly and effectively complete the endoscopy intervention, reduce the difficulty of operation and accord with the design of ergonomics.
【作者单位】：中国科学院沈阳自动化研究所机器人学国家重点实验室;中国科学院大学;中国人民解放军总医院消化内科;
【基金】：国家科技支撑计划资助项目(2012BAI14B03) 机器人学国家重点实验室自主课题(2013-Z10)
【分类号】：TP242

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