Development of a continuum robot for colonoscopy

被引：0
作者：
Hu, Haiyan [1 ]
Li, Mantian [1 ]
Wang, Pengfei [1 ]
Feng, Yuan [1 ]
Sun, Lining [1 ]
机构：
[1] State Key Laboratory of Robotics and System, Harbin Institute of Technology
来源：
High Technology Letters | 2009年 / 15卷 / 02期
关键词：
Colonoscopy; Continuum robot; Kinematics; Redundant actuation;
D O I：
10.3772/j.issn.1006-6748.2009.02.001
中图分类号：
学科分类号：
摘要：
A novel continuum robot for colonoscopy is presented. The aim is to develop a robot for colonoscopy which can provide the same functions as conventional colonoscope, but much less pain and discomfort for patient. In contrast to traditional rigid-link robot, the robot features a continuous backbone with no joints. The continuum robot is 300 mm in total length and 12 mm in diameter that is less than the average diameter of human colon (20 mm). The robot has a total of 4 DOF (degrees of freedom) and is actuated remotely by 6 hybrid step motors through super-elastic NiTi wires. Its shape can be changed with high dexterity, therefore ensuring its adaptability to the tortuous shape of human colon. The mechanical structure, kinematics and DSP-based control system are discussed; prototype experiments are carried out to validate the kinematics model and to show the motion performances.
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收藏
页码：115 / 119
页数：4
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