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A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
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
会议录名称Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码7780-7783
收录类别EI ; CPCI(ISTP)
EI收录号20160201780568
WOS记录号WOS:000371717208016
产权排序1
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
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17464
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Gastroenterology Department of Chinese PLA General Hospital, Beijing, China
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]. Piscataway, NJ, USA:IEEE,2015:7780-7783.
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