面向结肠复杂环境无创诊查的微型可变径履带式机器人基础研究

Colonic disease such as ulceration, enteritis, and colorectal cancer is one of persistent ailments that jeopardize human health because of the limited functionalities of the available diagnosis-treatment devices and methods, which are not suitable to achieve the goal of early diagnosis and treatment. Concerning this issue, this program proposes a micro variable-diameter crawler-type robot, which is used for early diagnosis of colonic disease. This robot can access to the colon via anus, and can inspect the colon with high quality and high efficiency in a noninvasive manner. In this program, a walking mechanism which is well adapted to the complex environment of the colon is designed, and it enables the robot to have the abilities of double-way locomotion, stopping, expanding, and self-stabilization in the colon, thus overcoming a limitation of poor diagnosis quality when using an available counterpart whose abilities are incomplete. This program also investigates the compatibility between the robot and the complex environment of the colon, and forms a useful method for safe and high-efficiency locomotion which is based a mode of perceiving environment firstly and adjusting locomotion parameters then; this method overcomes the limitation of an available counterpart which does not have perception ability. To supply sufficient electric power for the robot, wireless power supply suitable for the robot is also investigated, and a method for rapid designing a three-dimensional receiving coil onboard the robot is established. Based on the above research, this program will provide theoretical and technical foundation for the application of the robot in noninvasive inspection of the colon in clinic.

结肠疾病如溃疡、炎症、结直肠癌等是严重危害人类健康的顽症之一，其难以治愈的主要原因在于现有诊疗器件和方法存在局限，难以用于其“早诊早治”。针对这一问题，本项目提出一种用于结肠疾病“早诊”的微型可变径履带式机器人，它可经肛门进入结肠，实现对结肠高质量、高效率的无创诊查。通过设计具有良好结肠复杂环境适应性的机器人行走机构，使机器人具备在结肠中双向主动运动、驻留、扩张、姿态稳定功能，克服现有同类机器人因功能不完善导致的诊查质量差的局限。通过探索机器人与结肠复杂环境相容性，形成基于肠环境感知-运动参数动态优化的安全高效运动实现方法，克服现有同类机器人因无肠环境感知能力导致的诊查效率低的局限。通过开展适用于结肠诊查微型机器人的安全无线电能供应研究，形成机载三维接收线圈快速设计优化方法，解决机器人电能供给问题。通过上述研究，为可变径履带式机器人应用于结肠疾病无创诊查提供理论和技术支撑。

结肠疾病如溃疡、炎症、结直肠癌等严重危害人类健康，其难以治愈的主要原因在于现有诊疗器件和方法存在局限，难以用于其“早诊早治”。针对这一问题，本项目开展了面向结肠复杂环境无创诊查的微型可变径履带式机器人基础研究，完成的主要研究内容包括：.（1）构建了结肠复杂环境中的摩擦学模型，揭示了结肠内腔表面摩擦系数与结肠生物力学特性、环向应变、机器人运动速度间的定量关系。.（2）研制了刚性变径和和柔性变径的两种微型履带式机器人样机，其中：刚性变径的履带式机器人样机直径30mm、长度47mm、变径范围30~80mm，在水平和垂直刚性管中的运动速度分别为306cm/min和84cm/min，但肠黏液易引发其机械故障，导致无法在结肠中实现有效运动；柔性变径的履带式机器人样机直径38.9mm、长度48.8mm、变径范围38.9~59.6mm，在水平刚性管、垂直刚性管、水平离体猪结肠、活体猪结肠中实现的运动速度分别为300cm/min、102cm/min、106.2cm/min、54.6cm/min。.（3）形成了可变径履带式机器人在结肠环境中安全高效运动实现方法。该方法以肠环境感知为基础、以牵引力和运动阻力模型为核心、以机器人运动参数优化为手段。当机器人进入未知肠环境或肠环境变化导致运动失效后，首先基于薄膜压力传感器采集数据感知出结肠几何参数，然后基于感知参数设置机器人扩张直径和履带转速，使牵引力大于运动阻力，从而确保有效运动产生。.（4）提出了机载无线电能三维接收线圈设计优化方法，可在机器人内部有限空间、交变磁场电磁曝露安全性、接收线圈温升安全性的约束下，对三维接收线圈的磁芯尺寸、各维线圈匝数和线径快速进行优化选取，解决了结肠诊查微型机器人无线电能供应问题。基于该方法设计了直径19.4mm、长度10mm的三维接收线圈，当一维发射线圈直径为40cm、发射功率为11.3W时，该三维接收线圈可在发射线圈内部任意位置、任意姿态下稳定点亮总功耗为1W的LED灯珠。.上述研究中取得的理论方法、样机、测试结果，将为可变径履带式机器人应用于结肠疾病无创诊查提供理论和技术支撑。