中国科学院沈阳自动化研究所机构知识库
Advanced  
SIA OpenIR  > 机器人学研究室  > 会议论文
题名: A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
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)
作者部门: 机器人学研究室
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
会议录: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 7780-7783
收录类别: EI ; CPCI(ISTP)
ISBN号: 978-1-4244-9270-1
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.
语种: 英语
产权排序: 1
WOS记录号: WOS:000371717208016
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17464
Appears in Collections:机器人学研究室_会议论文

Files in This Item: Download All
File Name/ File Size Content Type Version Access License
A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.pdf(890KB)会议论文--开放获取View Download

Recommended Citation:
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.
Service
Recommend this item
Sava as my favorate item
Show this item's statistics
Export Endnote File
Google Scholar
Similar articles in Google Scholar
[Li YM(李言民)]'s Articles
[Liu H(刘浩)]'s Articles
[Wang HZ(王恒之)]'s Articles
CSDL cross search
Similar articles in CSDL Cross Search
[Li YM(李言民)]‘s Articles
[Liu H(刘浩)]‘s Articles
[Wang HZ(王恒之)]‘s Articles
Related Copyright Policies
Null
Social Bookmarking
Add to CiteULike Add to Connotea Add to Del.icio.us Add to Digg Add to Reddit
文件名: A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 
评注功能仅针对注册用户开放,请您登录
您对该条目有什么异议,请填写以下表单,管理员会尽快联系您。
内 容:
Email:  *
单位:
验证码:   刷新
您在IR的使用过程中有什么好的想法或者建议可以反馈给我们。
标 题:
 *
内 容:
Email:  *
验证码:   刷新

Items in IR are protected by copyright, with all rights reserved, unless otherwise indicated.

 

 

Valid XHTML 1.0!
Copyright © 2007-2016  中国科学院沈阳自动化研究所 - Feedback
Powered by CSpace