【摘要】 机器人主动内窥镜是利用机器人改造传统的纤维内窥镜的技术 ,以减少穿孔率、降低对插入技艺的依赖性和提高检测过程的自动化。作为机器人主动内窥镜的关键部分之一 ,本文探讨基于计算机气动阀控技术的蠕动原理、机构实现和系统实验等。更多还原

【Abstract】 Robotic active endoscopy aims at modification of traditional fiber endoscopes with the robotic technology for the elimination of perforation, lowering the dependence on the sophisticated invading technique and promote endoscopic automation. As a part of active guiding for a robotic endoscope, the paper discusses the inchworm principle, the mechanism implementation and the prototype experiments for a newly developed inchworm robotic mechanism, Wormbot I.更多还原