SIA OpenIR  > 机器人学研究室
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)
Department机器人学研究室
Conference Name2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
Conference DateAugust 25-29, 2015
Conference PlaceMilan, Italy
Source PublicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages7780-7783
Indexed ByEI ; CPCI(ISTP)
EI Accession number20160201780568
WOS IDWOS:000371717208016
Contribution Rank1
ISBN978-1-4244-9270-1
AbstractRobotic 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/17464
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
A novel gastroscope (890KB)会议论文 开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
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
Baidu academic
Similar articles in Baidu academic
[Li YM(李言民)]'s Articles
[Liu H(刘浩)]'s Articles
[Wang HZ(王恒之)]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Li YM(李言民)]'s Articles
[Liu H(刘浩)]'s Articles
[Wang HZ(王恒之)]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: A novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

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