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Design and control of a novel gastroscope intervention mechanism with circumferentially pneumatic-driven clamping function
Li YM(李言民); Liu H(刘浩); Hao SW(郝思文); Han JD(韩建达); Yang YS(杨云生)
作者部门机器人学研究室
关键词Gastroscope Intervention Mechanism Circumferential Clamping Critical Slipping Force Shear Stiffness Fuzzy Pid Control
发表期刊INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
ISSN1478-5951
2017
卷号13期号:1页码:1-14
收录类别SCI
WOS记录号WOS:000398119200008
产权排序1
资助机构National Natural Science Foundation of China (Grant No. 61473281), the National Technology R&D Programme of China (Grant No. 2012BAI14B03) and the Self-plan Project of State Key Laboratory of Robotics (Grant No. 2016-Z06).
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.

语种英语
WOS标题词Science & Technology ; Life Sciences & Biomedicine
WOS类目Surgery
关键词[WOS]Colonoscope ; System
WOS研究方向Surgery
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19725
专题机器人学研究室
通讯作者Liu H(刘浩); Yang YS(杨云生)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, People’s Republic of China
2.University of Chinese Academy of Sciences, Beijing, People’s Republic of China
3.Department of Gastroenterology and Hepatology, Chinese PLA General Hospital, Beijing, People’s Republic of China
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]. 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.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".INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY 13.1(2017):1-14.
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