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Endoscope robot control method and device based on pressure sensor information

A technology of endoscopic robot and pressure sensor, applied in the direction of endoscope, rectoscope, rectal electron microscope, etc., can solve problems such as intestinal injury

Active Publication Date: 2016-07-27
SUZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide an endoscope robot control method based on pressure sensor information, through a compliant control method, to solve the problem that the existing conventional endoscope is easy to cause intestinal damage

Method used

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  • Endoscope robot control method and device based on pressure sensor information
  • Endoscope robot control method and device based on pressure sensor information
  • Endoscope robot control method and device based on pressure sensor information

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Embodiment

[0056] see Figure 1 to Figure 5 , as shown in the illustration, the pressure sensor includes a stainless steel substrate 2 and three resistance strain gauges 3, the stainless steel substrate 2 surrounds the middle of each joint 1 along the circumference, and the three resistance strain gauges 3 are evenly distributed along the circumference Set on the stainless steel base sheet 2, the stainless steel base sheet 2 has two connection ends, when the stainless steel base sheet 2 is wrapped around the joint 1, the above two connection ends are connected together and form a connection point 4, one of the resistance strain gauges 3 and The connection point 4 is arranged symmetrically with respect to the central point of the surrounding stainless steel base sheet 2, and the other two resistance strain gauges 3 are symmetrical with respect to the connection point 4. The stainless steel base sheet 2 has an inner diameter of 13 mm and a thickness of 0.1 mm after being surrounded by stain...

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Abstract

The invention discloses an endoscope robot control method and device based on pressure sensor information. An operator actively controls a robot to bend in the intestine according to intestinal interior information fed back by a camera at the front end of an S-shaped body of the colonoscope robot; a robot control system collects contact force information of the robot and the intestine in real time by means of a pressure sensor of the bent body part, and the relation between the robot motion distance r and contact force F is obtained by analyzing the colon tissue biomechanical characteristics, so that the joint posture of the robot is adjusted to ensure that the contact force is within the safety threshold value range; the control system corrects the whole posture of all joints of the robot by means of the motion coupling relation of all the joints, the contact force coming from all the joints of the robot can be effectively detected, and when the robot touches the intestine, the colonoscope robot control system can control the robot gently to enable the contact force between the robot and the intestine to be within the safety threshold value range, so that safety of the intestine of the human body during examination is ensured.

Description

technical field [0001] The invention relates to an endoscope robot control method, in particular to an endoscope robot control method and device based on pressure sensor information. Background technique [0002] At present, the global incidence of colorectal cancer ranks third among male cancers and second among female cancers. Among them, the incidence of colorectal cancer in my country has increased by an average of 4% per year, which is twice the world level. The third cancer that threatens the health of Chinese people. At present, the active bending ability of conventional colonoscopy is insufficient during the inspection process and it is easy to cause severe discomfort and pain to patients. Therefore, more and more scholars are trying to introduce robotic technology into the inspection process of colonoscopy. [0003] So far, scholars at home and abroad have conducted a lot of research on endoscopic robots, and developed various types of passive capsule endoscopes, pn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B1/00A61B1/005A61B1/31
CPCA61B1/00045A61B1/00064A61B1/0051A61B1/31
Inventor 胡海燕李春光冯笑笑李伟达李娟
Owner SUZHOU UNIV
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