一个柔软的生长机器人内镜
Nam Gyun Kim1, Shinwoo Park2, Dongoh Seo1
1Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea.
Soft robotics
|August 20, 2025
概括
这项研究引入了一种新的软生长内镜 (SGE),可以克服葡萄藤机器人的结肠镜检查的局限性. 该SGE提供了改进的转向,成像和安全收缩,提高了患者的舒适性和程序效率.
科学领域:
- 医疗机器人
- 胃肠内镜检查
- 软机器人
背景情况:
- 但在结肠镜检查方面面临挑战, 包括硬度,方向,传感器集成和回收.
- 现有的 vine 机器人设计难以实现结肠合规,安全连接的传感器使用,以及有效的导航.
研究的目的:
- 开发一种新的软机器人内镜,解决葡萄藤机器人的关键局限性.
- 为了提高患者的舒适性,程序效率和医生在结肠镜检查期间的便利性.
主要方法:
- 一个新的软机器人内镜, 采用优化的反射机制,
- 集成被动连接摄像头稳定系统,用于实时成像.
- 包括面料气动人造肌肉用于两度自由度的主动转向.
- 开发一个非密封的,自收缩的机制,以安全地收缩而无需曲.
主要成果:
- 软生长内镜 (SGE) 显示了较低的刚性和服从性,最大限度地减少了肠道膨胀.
- 通过被动稳定连接相机保持实时成像.
- 该设备通过主动转向实现了通过复杂路径的精确导航.
- 证实安全,没有曲的收缩,即使嵌入有连接的传感器.
- 与传统内镜相比,幻影研究显示中延伸率降低了80%.
- 在体内试验显示SGE在2分钟内到达大脑门,图像和收缩完好.
结论:
- 开发的软生长内镜有效地克服了适应大肠镜的葡萄机器人的重大挑战.
- 这种SGE提供了最少侵入性的,更安全,更有效的结肠镜解决方案.
- 这种设备提高了患者的舒适性,程序效率,并减少了医生的压力.
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