A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
文献类型：会议论文
| 作者 | Li YM(李言民); Liu H(刘浩) ; Wang HZ(王恒之); Yang ZD(杨臻达); Li HY(李洪谊); Yang YS(杨云生)
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| 出版日期 | 2015 |
| 会议名称 | 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) |
| 会议日期 | August 25-29, 2015 |
| 会议地点 | Milan, Italy |
| 页码 | 7780-7783 |
| 中文摘要 | Robotic assisted gastroscope delivery could solve various problems like understaffing, radiation and infection risk. The friction rollers commonly used in the few existed systems for traditional flexible endoscope, however, has potential risk of destroying scopes for non-uniform clamping. This research develops a novel gastroscope intervention mechanism (GIM) with a specially designed airbag. It evenly clamps the gastroscope with circumferential uniform pneumatic pressure. The GIM realizes axial and radial motion by means of the relay delivery mode similar to clinician's operation. The critical slipping force at different air pressure was analyzed to provide guidelines for safe intervention. Experiments were performed to evaluate the delivery accuracy and velocity and measure the critical slipping force. The results showed the axial and radial accuracy for delivery are 0.025±0.2mm and -0.03±0.25deg, respectively. The average velocity of 6.00mm·s-1 and 75 deg·s-1 were achieved to push/pull and twist the gastroscope. The relationship between the critical slipping force and air pressure could be fitted with a quadratic polynomial. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
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| 会议录出版者 | IEEE |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-9270-1 |
| WOS记录号 | WOS:000371717208016 |
| 源URL | [http://ir.sia.cn/handle/173321/17464]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Li YM,Liu H,Wang HZ,et al. A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function[C]. 见:2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). Milan, Italy. August 25-29, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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