Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
文献类型：期刊论文
| 作者 | Li YM(李言民) ; Liu H(刘浩); Hao SW(郝思文); Han JD(韩建达); Yang YS(杨云生)
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| 刊名 | The International Journal of Medical Robotics and Computer Assisted Surgery
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| 出版日期 | 2017 |
| 卷号 | 13期号:1页码:1-14 |
| 关键词 | gastroscope intervention mechanism circumferential clamping critical slipping force shear stiffness fuzzy PID control |
| ISSN号 | 1478-596X |
| 产权排序 | 1 |
| 通讯作者 | 刘浩 ; 杨云生 |
| 中文摘要 | Background: Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. Methods: This paper presents a robotic system for a standard flexible endoscope and focuses on a novel gastroscope intervention mechanism (GIM), which provides circumferentially uniform clamping with an airbag. The GIM works with a relay-on mechanism in a way similar to manual operation. The shear stiffness of airbag and the critical slipping force (CSF) were analyzed to determine the parameters of the airbag. A fuzzy PID controller was employed to realize a fast response and high accuracy of pneumatic actuation. Experiments were performed to evaluate the accuracy, stiffness and CSF. In vitro and in vivo animal experiments were also carried out. Results: The GIM realized an accuracy of 0.025±0.2mm and –0.03±0.25° for push–pull and rotation without delivery resistance. Under <10N delivery resistance, the error caused by the airbag stiffness was <0.24mm. A quadratic polynomial could be used to describe the relationship between the CSF and pneumatic pressure. Conclusions: The novel GIM could effectively deliver gastroscopes. The pneumatic-driven clamping method proposed could protect the gastroscope by circumferentially uniform clamping force and the CSF could be properly controlled to guarantee operating safety. |
| WOS标题词 | Science & Technology ; Life Sciences & Biomedicine |
| 类目[WOS] | Surgery |
| 研究领域[WOS] | Surgery |
| 关键词[WOS] | COLONOSCOPE ; SYSTEM |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000398119200008 |
| 源URL | [http://ir.sia.cn/handle/173321/19725]  |
| 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,Hao SW,et al. Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function[J]. The International Journal of Medical Robotics and Computer Assisted Surgery,2017,13(1):1-14. |
| APA | Li YM,Liu H,Hao SW,Han JD,&Yang YS.(2017).Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.The International Journal of Medical Robotics and Computer Assisted Surgery,13(1),1-14. |
| MLA | Li YM,et al."Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function".The International Journal of Medical Robotics and Computer Assisted Surgery 13.1(2017):1-14. |
入库方式： OAI收割
来源：沈阳自动化研究所
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