【摘要】 近二十年来,各国的研究者提出了多种用于介入式诊疗机器人的驱动方式,它可以使机器人在人体肠腔中自主运行。介入式诊疗机器人是因为无创、微创外科的需求而发展的,因为它工作在潮湿的、多皱的、曲折的人体肠腔环境,所以它的驱动技术尤为关键。该文按照驱动方式不同进行分类,讨论驱动力提供途径及实现驱动控制的不同方式。更多还原

【Abstract】 For more than two decades,researchers have proposed and developed methods of providing propulsion at the tip of the Invasive Diagnosis Robot.so that it can pull itself through the gastrointestinal(GI)tract.Invasive Diagnosis Robot have become increasingly popular,to meet requirement for MIS(Minimally Invasive Surgery).Because it works in the wet ,collapsible and tortuous human GI tract,locomotion techniques become key.This paper reviews the various locomotion techniques.更多还原