SIA OpenIR  > 机器人学研究室
The torsion transmission characteristics for gastroscope intervention
Zhang X(张旭)1,2; Wang CY(王重阳)1; Zhang C(张诚)1; Zhou YY(周圆圆)1; Yang YS(杨云生)2; Liu H(刘浩)1
Department机器人学研究室
Conference Name2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)
Conference DateAugest 24-27, 2018
Conference PlaceShenyang, China
Source PublicationProceedings of the 2018 IEEE International Conference on Intelligence and Safety for Robotics
PublisherIEEE
Publication PlaceNew York
2018
Pages407-412
Indexed ByEI ; CPCI(ISTP)
EI Accession number20185206309903
WOS IDWOS:000455843900071
Contribution Rank1
ISBN978-1-5386-5548-1
KeywordGastroscope Intervention Robot-assisted System Insertion Tube Torsion Transmission
Abstract

In recent years, medical assistant robots have been widely used in the medical profession. Previously, for the diagnosis and treatment of gastrointestinal diseases, we developed a robot-assisted system for gastroscope intervention to relieve the surgeon from heavy workload. On the basis of the original gastroscope, we can make use of the robot-assisted system replace endoscopist to operate a gastroscope. In the process of gastroscopy, the gastroscope will show different bending States. The gastroscope presents a kind of flexible instruments and improper torque applied has certain risk damaging the gastroscope and cause injury to patients' digestive tract. In this paper we analyzed typical shapes of gastrascope during intervention and test the torsion transmission characteristic of gastroscope with multi groups of experiments. Angle difference between the distal tip and proximal handle was used to evaluate the transmission performance. The results indicate, with the increase of gastrascope deformation, the angle difference increases showing poor torsion transmission capability.

Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/23861
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Department of Mechanical Engineering, Shenyang Ligong University, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
3.Digestive department, General Hospital of PLA, Beijing, China
Recommended Citation
GB/T 7714
Zhang X,Wang CY,Zhang C,et al. The torsion transmission characteristics for gastroscope intervention[C]. New York:IEEE,2018:407-412.
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