介入诊疗微机器人研究
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摘要
“胶囊内镜”全称为“智能胶囊消化道内镜系统”,又称“医用无线内镜”。智能胶囊借助着消化道的蠕动而在消化道内运动并拍摄图像,并传输至体外的图像记录仪和影像工作站,让医生可以了解受检者的整个消化道情况,从而对其病情做出诊断。然而现在商用的胶囊内镜系统基本上都不具备驱动机构,只能随消化道蠕动做被动运行,观察过程不受控制,无法对病变等特定位置进行细致的检测,因此,本文在查阅了大量文献的基础上,研究了国内外的胶囊内镜的控制方法,设计了一种新型的内窥镜机器人驱动机构,对该机构在肠道内的运动作了详细的分析,并做出了实物模型进行实验验证。全文的内容安排如下:
第一章是绪论,介绍了胶囊内镜的研究背景和内镜胶囊的概念,对胶囊内镜的自主运动的国内外研究现状作了介绍和分析,并归纳了胶囊内镜现今存在的一些问题。
第二章对胶囊内镜在肠道内运动时的受力模型作了研究,利用薄膜理论建立了数学模型,并用软件ANSYS仿真胶囊内镜在肠道运动的状况。
第三章设计了一种新型的内窥镜机器人机构,介绍了该机构在肠道内的运行原理,根据运动原理设计出了具体结构方案,并设计了关键的零部件。
第四章对设计采用的材料形状记忆合金的特性做了分析,采用Brinson本构方程来描述形状记忆合金材料的相变机制,并用MATLAB软件来分析形状记忆合金的相变中材料、力学性能。
第五章设计出了胶囊内镜的驱动控制系统以及试验所需的电路模块。
第六章为试验方案和试验结果,主要进行了三个试验:形状记忆合金温度试验,测出在环境温度下,加热电流与加热形状记忆合金到一定温度的时间的关系;形状记忆合金力学试验,验证形状记忆合金的材料性能;然后验证了内镜机器人模型在塑料管道里的运行情况。
第七章对本文的主要工作进行了总结,指出本文有待改进的部分,并对胶囊内镜的发展做了展望。
"Capsule endoscope" is short for "intelligent gastrointestinal capsule endoscopy system",also known as "medical wireless endoscope".With capsule endoscope moving by the creeps of digestive tract,it records images through the digestive tract for use in medicine,so doctors can inspect the state of the entire digestive tract,and hence make a diagnosis,however,The current commercial capsule endoscopy system doesn't have drive mechanisms,the movement of capsule endoscope relies on the creeping realization of the digestive tract,therefore,the process of observation is uncontrolled,some specific location of the lesions may not be meticulous tested,so this paper introduced recent research achievements on the drive mechanism both at home and abroad,designed a new type of endoscopic robot, made a detailed analysis of the movement in the intestine and made a life-size model to verify the design.This paper is summarized as follows:
The first chapter introduced the research background and conception of capsule endoscope,made presentment and analysis of the current drive mechanism,and summed up some problems of the capsule endoscope.
ChapterⅡbuilt the mathematical model of the capsule endoscope in intestinal creep movement using the membrane theory,and simulated the state endoscopic robot moving in mucus of intestine.
ChapterⅢdesigned a new type of endoscopic robot,presented the moving principle in the intestine,and designed the structure program and key components according to the principle.
ChapterⅣanalyzed material properties of Shape Memory Alloy(SMA) which is used in the mold design,used Brinson constitutive equation to describe the Material and mechanical properties in the phase transition of Shape Memory Alloy material.
ChapterⅤdesigned the drive control system and circuit module required for testing of the endoscopic capsule.
ChapterⅥwas about test programs and test results,three tests were carried out,one was the temperature experiment of shape memory alloy,Measured the relationship of heating current and heating time at environmental temperature,one was mechanical test,to verify the material property of shape memory alloy,and the last was the general operation of the test,and then analyzed collected test dates.
ChapterⅦconcluded the main contents of this article,noted the improvement of the design,and analyzed the development direction of capsule endoscope.
第一章是绪论,介绍了胶囊内镜的研究背景和内镜胶囊的概念,对胶囊内镜的自主运动的国内外研究现状作了介绍和分析,并归纳了胶囊内镜现今存在的一些问题。
第二章对胶囊内镜在肠道内运动时的受力模型作了研究,利用薄膜理论建立了数学模型,并用软件ANSYS仿真胶囊内镜在肠道运动的状况。
第三章设计了一种新型的内窥镜机器人机构,介绍了该机构在肠道内的运行原理,根据运动原理设计出了具体结构方案,并设计了关键的零部件。
第四章对设计采用的材料形状记忆合金的特性做了分析,采用Brinson本构方程来描述形状记忆合金材料的相变机制,并用MATLAB软件来分析形状记忆合金的相变中材料、力学性能。
第五章设计出了胶囊内镜的驱动控制系统以及试验所需的电路模块。
第六章为试验方案和试验结果,主要进行了三个试验:形状记忆合金温度试验,测出在环境温度下,加热电流与加热形状记忆合金到一定温度的时间的关系;形状记忆合金力学试验,验证形状记忆合金的材料性能;然后验证了内镜机器人模型在塑料管道里的运行情况。
第七章对本文的主要工作进行了总结,指出本文有待改进的部分,并对胶囊内镜的发展做了展望。
"Capsule endoscope" is short for "intelligent gastrointestinal capsule endoscopy system",also known as "medical wireless endoscope".With capsule endoscope moving by the creeps of digestive tract,it records images through the digestive tract for use in medicine,so doctors can inspect the state of the entire digestive tract,and hence make a diagnosis,however,The current commercial capsule endoscopy system doesn't have drive mechanisms,the movement of capsule endoscope relies on the creeping realization of the digestive tract,therefore,the process of observation is uncontrolled,some specific location of the lesions may not be meticulous tested,so this paper introduced recent research achievements on the drive mechanism both at home and abroad,designed a new type of endoscopic robot, made a detailed analysis of the movement in the intestine and made a life-size model to verify the design.This paper is summarized as follows:
The first chapter introduced the research background and conception of capsule endoscope,made presentment and analysis of the current drive mechanism,and summed up some problems of the capsule endoscope.
ChapterⅡbuilt the mathematical model of the capsule endoscope in intestinal creep movement using the membrane theory,and simulated the state endoscopic robot moving in mucus of intestine.
ChapterⅢdesigned a new type of endoscopic robot,presented the moving principle in the intestine,and designed the structure program and key components according to the principle.
ChapterⅣanalyzed material properties of Shape Memory Alloy(SMA) which is used in the mold design,used Brinson constitutive equation to describe the Material and mechanical properties in the phase transition of Shape Memory Alloy material.
ChapterⅤdesigned the drive control system and circuit module required for testing of the endoscopic capsule.
ChapterⅥwas about test programs and test results,three tests were carried out,one was the temperature experiment of shape memory alloy,Measured the relationship of heating current and heating time at environmental temperature,one was mechanical test,to verify the material property of shape memory alloy,and the last was the general operation of the test,and then analyzed collected test dates.
ChapterⅦconcluded the main contents of this article,noted the improvement of the design,and analyzed the development direction of capsule endoscope.
引文
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