可适配、形状贴合的机器人内窥镜
Adaptable, shape-conforming robotic endoscope
AI总结：
本研究提出一种结合扩张机构与外部驱动系统的尺寸可适配机器人内窥镜，可根据管道直径调整形状以提升推进力与稳定性，经实验验证了其形状适配能力，为结肠镜检查效率与舒适度提升提供新方案。
摘要：
本文介绍了一种尺寸可适配的机器人内窥镜设计，旨在提升结肠镜检查的效率与舒适度。该机器人内窥镜结合了扩张机构与外部驱动系统，可根据不同管道直径调整形状，从而提升推进过程中的稳定性与推进力。作为扩张机构的执行器，柔性波纹管在最大压力下可提供3.89牛的法向力和近10毫米的轴向变形，可扩张末端的尺寸扩张率达53%。在原型机的运动性能测试中，我们通过改变管道摩擦系数和电机角速度，得出了其与原型机推进的关系。在人工肠道组织实验中，原型机可产生2.83牛的推进力，平均最大线速度为29.29米/秒，且在通过不同尺寸管道时均可产生有效推进。结果表明，该原型机可实现形状适配能力以获得更大推进力。推进力与牵引力的关系、结构优化及小型化仍需进一步探索。
英文摘要：
This paper introduces a size-adaptable robotic endoscope design, which aims to improve the efficiency and comfort of colonoscopy. The robotic endoscope proposed in this paper combines the expansion mechanism and the external drive system, which can adjust the shape according to the different pipe diameters, thus improving the stability and propulsion force during propulsion. As an actuator in the expansion mechanism, flexible bellows can provide a normal force of 3.89 N and an axial deformation of nearly 10mm at the maximum pressure, with a 53% expansion rate in the size of expandable tip. In the test of the locomotion performance of the prototype, we obtained the relationship with the propelling of the prototype by changing the friction coefficient of the pipe and the motor angular velocity. In the experiment with artificial bowel tissues, the prototype can generate a propelling force of 2.83 N, and the maximum linear speed is 29.29 m/s in average, and could produce effective propulsion when it passes through different pipe sizes. The results show that the prototype can realize the ability of shape adaptation in order to obtain more propulsion. The relationship between propelling force and traction force, structural optimization and miniaturization still need further exploration.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
