面向胃肠道疾病无创诊查的微型仿生机器人系统关键技术研究

The incidence and mortality of gastrointestinal diseases are increasing year by year, it has become the focus of international research, prevention and control. The early-stage cancer can be cured and canceration can be intervened by the present medical level, but there are still some difficulties at present. Firstly, it is lack of early-stage and noninvasive detection methods and means for gastrointestinal malignant tumor. And secondly, the gastrointestinal functional disease has become a danger to people's health and living standard as the persistent ailment, the diagnosis of mechanisms of these diseases is dependent on the noninvasive detection of gastrointestinal physiological parameters, but the current detection technique and means exist defects. Basing on the existing research, this project regard the gastrointestinal tract of living animal as the research object. Through exploring the bionic micro-robot technique that the robot can be controlled to locomote in the gastrointestinal tract and expand radially in the collapsed and folded gastrointestinal tract, the noninvasive detection technique of pressure, temperature, pH value and tissue image in the gastrointestinal tract and the detected data transmission and processing technique, the project aim at solving the problems of the early-stage and noninvasive detection methods for the gastrointestinal disease, and to lay a theoretical foundation for further clinical application.

胃肠道疾病的发病率和死亡率逐年升高，已成为国际社会研究和防控的重点。现有医学水平虽可以干预组织癌变的进程甚至治愈早期癌，但目前存在的困难是：缺乏对胃肠道恶性肿瘤早期和无创的检测方法和手段；同时，胃肠道功能性疾病已成为危害人民健康和生命质量的顽症，对该类疾病发病机制的诊断依赖于胃肠道生理参数的无创检测，但目前的检测技术和手段存在缺陷。本项目基于早发现、早诊断和早治疗的诊疗模式的发展需求，针对胃肠道恶性肿瘤、胃肠道功能性疾病的早期和无创诊查问题，在现有研究工作的基础上，以活体动物试验和活体动物胃肠道疾病模型为研究对象，通过对在胃肠道内可控运动、能对塌陷和褶皱的胃肠道实施径向扩张的微型仿生机器人技术，面向人体环境的无线能量传输技术，胃肠道腔内压力、温度、pH值和组织图像的无创检测及传输技术、检测数据处理技术等方面的研究，解决胃肠道疾病的早期和无创诊查问题，为进一步的人体临床应用奠定理论基础。

胃肠道疾病的发病率和死亡率逐年升高，是国际社会研究和防控的重点。本项目研究胃肠道疾病的早期和无创诊查技术，主要内容：（1）胃肠道环境下“仿生尺蠖式机器人”运动有效性和可靠性；（2）面向胃肠道环境的高效和稳定无线能量传输技术；（3）胃肠道腔内信息检测及基于检测结果的疾病诊断技术。重要结果：（1）研制成“仿生尺蠖式胃肠道机器人”多型样机；（2）研制成平行对置式能量发射线圈和三维空心圆柱式接收线圈结构；（3）完成了胃肠道腔内医学信息检测、体内外无线通信模块的研制；（4）基于对生物组织自体荧光色泽图像的获取及对检测数据的处理，开展了胃肠道肿瘤识别、癌前病变检测技术研究。获知识产权23件，撰写论文37篇；培养本科生2人，1人获“学校优异学士论文”；培养研究生9人，1人获“中国仪器仪表学会全国优博论文”；培养博士后和青年教师7人；“无线供能的胃肠道无创诊察微型仿生机器人”获学校机器人创新设计大赛奖。