【作者】 陈柏；

【导师】 周银生； 潘双夏； 顾大强；

【作者基本信息】 浙江大学 ， 机械设计及理论， 2005， 博士

【摘要】 随着微创外科手术技术的应用范围不断拓展,自主式内窥镜机器人研究已成为科学家们的研究热点。本文作者考虑到人体内腔环境中或多或少存在一定量体液的现实,给出基于流体环境的螺旋式无损伤内窥镜机器人,基于生物游动原理的内窥镜机器人以及瑞利阶梯内窥镜机器人设计方案。本文在对这三种内窥镜机器人进行理论及实验研究的基础上,比较分析各自的优缺点,同时,基于功能组合创新的设计理念,提出一种有望应用到血管等充满液体的微细管道中运行的基于生物游动与螺旋驱动原理的内窥镜机器人设计方案。 论文的第一章首先分析传统内窥镜系统的缺陷以及自主内窥镜机器人之于微创外科手术技术的重要研究意义。在概述自主内窥镜机器人的研究现状及成果的基础上,指出其需要改进的地方,提出本论文的研究切入点和主要研究内容。 论文的第二章在双圆柱螺旋内窥镜机器人的基础上,提出单圆柱螺旋变体内窥镜机器人设计方案。同时,作者研究了内窥镜机器人系统的无线控制与图像传输子系统及配套的体外监控系统的理论设计方案。 论文第三章在对肠道壁的生物力学特性及生物体液的非牛顿特性进行实验研究的基础上,建立肠道壁的粘弹性材料模型以及生物体液的非牛顿流变模型,进而获得肠道内窥镜机器人运行环境的数学模型。将运行环境的非线性数学模型耦合到螺旋内窥镜机器人理论分析模型中即得螺旋内窥镜机器人非线性仿真分析模型。 论文第四章利用前文的所述的螺旋内窥镜机器人非线性仿真分析模型,理论比较分析牛顿流体和Casson非牛顿流体中机器人无量纲轴向牵引力和周向摩擦阻力随着螺纹几何特征参数的变化规律,得出获得最佳动力学性能时,螺纹几何特征参数的优选解。另外,作者还对运行环境特征参数对机器人运动学性能的影响进行了研究。 论文第五章为了验证螺旋内窥镜机器人非线性仿真分析模型的正确性以及仿真分析结果的可信性,研制出螺旋内窥镜机器人轴向牵引力和周向摩擦阻力的测试实验台。利用该测试实验台对机器人轴向驱动力及周向摩擦阻力随螺旋几何特征的变化规律进行实验测试,并与理论值进行了比较。研究表明,理论值与实验值能很好的吻合,这充分证明上述非线性仿真分析模型的J下确性和仿真分析结果的可信性。测试比较了螺旋内窥镜机器人轴向驱动力的变化规律与机器人尺寸的关系,测试结果表明,当机器人外形尺寸微型化到φ0.5mm时,理论分析模型依然正确。依据前文获得的螺纹结构优选解,作者制作了双圆柱螺旋内窥镜机器人及其变体机器人实验样机,利用实验样机在离体肠道进行了机器人运行特性实验研究。 论文第六章给出基于流体环境的另外两种内窥镜机器人即基于生物体游动原理的内窥镜机器人和瑞利阶梯内窥镜机器人驱动方案,并对这两种内窥镜机器人分别进行了理论建模及原理实验研究。在比较分析螺旋内窥镜机器人、基于生物游动原理的内窥镜机器人和瑞利阶梯内窥镜机器人各自优缺点的基础上,基于功能组合创新的设计思想,提出一种基于生物游动与螺旋驱动原理的内窥镜机器人设计方案。更多还原

【Abstract】 With the expanding of applied range of minimal invasive surgery (MIS) technology, studies on the autonomic endoscopic micro robots have been more and more important. Many kinds of micro robots have been studied in the past decades for medical use. After the analysis of present research status of endoscopic micro and considering they always operate in the environment with liquid, the dissertation proposed a novel spiral-type non-invasive endoscopic micro robot and its modified micro robot, a tadpole-like micro robot and a Rayleigh stepped micro robots. After making the theoretical and experimental researches about performances of the micro robots, merits and faults of the three kinds of endoscopic micro robots had been compared each other, and a derived endoscopic micro robot which is the tadpole-like micro robot with spiral head has been proposed to operate in blood vessels in the future.The first chapter analyzed the shortcomings of the conventional endoscope system, investigated the present research status of autonomic endoscopic and then pointed out the primary coverage of the dissertation.Chapter two showed the design scheme and the locomotion principle of spiral-type endoscopic micro robot. After the research on the thrust force of the micro robot, the modified spiral-type endoscopic micro robot was presented. A branch system of the image acquisition, wireless transmission and control has been designed to integrate with the endoscopic micro robots.Chapter three provided the nonlinear theoretical model of the spiral-type micro robot. In this chapter, we firstly made experiments about the rheologic behaviors of dog’s intestinal juice, human’s gastric juice, whole blood and artificial blood. The rheologic behaviors can be expressed with the Casson equation. We also studied on the biomechanical behavior of dog’s small intestines experimentally and obtained an equation to express the viscoelasticity performance. The nonlinear theoretical model of the spiral-type micro robot was constructed after coupling the models of operating environment with the innovation Reynolds equations.With the nonlinear theoretical model mentioned above, chapter four studied on the axial thrust force and circumferential factional resistance varied with the characteristic parameters of spiral of the micro robot. We also studied about the influences of the environment character to the locomotion performance theoretically. Chapter five gave the design scheme of the experimental facility of axial thrust force and circumferential frictional resistance and fabricated it to confirm the validity of the nonlinear theoretical model. With the experimental facility, we studied about the axial thrust force and circumferential frictional resistance varied with the characteristic parameters of spiral of the micro robot. Also comparative studies on the large-scale and small-scale spiral-type micro robot have been made experimentally. With the 2 mm diameter micro motor, 4 mm diameter model machines of spiral-type micro robot and it’s modified one have been fabricated. Locomotion speeds of micro robotsoperating in isolated pig’s intestines have been studied experimentally.Chapter six provided two derived endoscopic micro robots: the tadpole-like microrobot with spiral head and the stepped micro robot. After making theoretical andexperimental researches about performances of the two micro robots, merits and faultsof the three kinds of endoscopic micro robots had been compared each other, and aderived endoscopic micro robot which is the tadpole-like micro robot with spiral headhas been proposed to operate in blood vessels in the future.Chapter seven generalized all the studies of this dissertation and pointed out theinnovations, and then discussed which studies should be made in future.更多还原