开发用于肠道检查的水蛭启发蠕动爬行软机器人

Gongxin Li, Mindong Wang, Yazhou Zhu, Yadong Wang
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引用次数: 0

摘要

对于威胁全球人类健康的流行性肠道疾病的早期预防和及时诊断而言,开发一种非破坏性且方便患者的肠道检查方法至关重要。尽管软体机器人因其安全的人机交互和高机动性而有望成为一种检查方法,但要在肠道灵活而脆弱的结构中实现可控且无损伤的运动仍是一项重大挑战。在这项研究中,我们提出并设计了一种受水蛭启发的软机器人,它能够在类似肠道的环境中工作,同时确保无损和可控的功能。该软体机器人由两个作为 "脚 "的双腔吸附致动器和一个作为 "身体 "的可伸缩致动器组成,通过程序控制吸附致动器的交替运动和可伸缩致动器的配合,使机器人能够爬行。通过数值模拟,以及在平面、斜坡和肠状管道等不同场景下的运动测试,我们验证了吸附致动器的吸附特性和调节机制,以及机器人的运动性能。结果表明,吸附致动器的最大吸附力为 3.17 N,软体机器人的最大移动速度为 9.29 mm/s。这项研究提供了一种非破坏性的、对病人友好的方法,有望在实际应用中用于肠道疾病的检测和治疗。
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Development of a leech-inspired peristaltic crawling soft robot for intestine inspection

The development of a non-destructive and patient-friendly method for examining the intestines is crucial for early prevention and timely diagnosis of prevalent intestinal diseases that pose a threat to human health worldwide. Although the soft robot shows promise as an examination method due to its safe human-machine interaction and high maneuverability, achieving controlled and non-damaging movements within the flexible and delicate structure of the intestines remains a significant challenge. In this study, we propose and design a leech-inspired soft robot capable of operating in an intestine-like environment while ensuring lossless and controllable functionality. The soft robot consists of two dual-chambered adsorption actuators serving as “feet” and a retractable actuator as the body, enabling the robot to crawl by programmatically controlling the alternating movements of the adsorption actuators and the cooperation of the retractable actuator. Through numerical simulations, and movement tests in various scenarios such as planes, slopes, and intestine-like pipelines, we verified the adsorption characteristics and regulation mechanism of the adsorption actuator, as well as the movement performance of the robot. The results demonstrate that the adsorption actuator achieves a maximum adsorption force of 3.17 N, and the soft robot attains a maximum moving speed of 9.29 mm/s. This research offers a non-destructive and patient-friendly approach that holds promise for the detection and treatment of intestinal diseases in practical applications.

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来源期刊
CiteScore
3.80
自引率
5.90%
发文量
50
期刊介绍: The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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