Control system design of micro diagnosis and treating robot for colonoscopy

CHEN Wen-wen; YAN Guo-zheng; GAO Peng; WANG Zhi-wu

doi:10.3788/OPE.20122006.1296

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Control system design of micro diagnosis and treating robot for colonoscopy

更新时间：2020-08-12

- Control system design of micro diagnosis and treating robot for colonoscopy
- Optics and Precision Engineering Vol. 20, Issue 6, Pages: 1296-1302(2012)
- 作者机构：
  
  上海交通大学电子信息与电气工程学院上海,200240
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122006.1296
  CLC： TP273;TP242.3
- Received：10 February 2012，
  
  Revised：22 February 2012，
  
  Published Online：10 June 2012，
  
  Published：10 June 2012
- 稿件说明：
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陈雯雯, 颜国正, 高鹏, 王志武. 结肠诊疗微机器人控制系统的设计和实现[J]. 光学精密工程, 2012,20(6): 1296-1302

CHEN Wen-wen, YAN Guo-zheng, GAO Peng, WANG Zhi-wu. Control system design of micro diagnosis and treating robot for colonoscopy[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1296-1302
陈雯雯, 颜国正, 高鹏, 王志武. 结肠诊疗微机器人控制系统的设计和实现[J]. 光学精密工程, 2012,20(6): 1296-1302 DOI： 10.3788/OPE.20122006.1296.

CHEN Wen-wen, YAN Guo-zheng, GAO Peng, WANG Zhi-wu. Control system design of micro diagnosis and treating robot for colonoscopy[J]. Editorial Office of Optics and Precision Engineering, 2012,20(6): 1296-1302 DOI： 10.3788/OPE.20122006.1296.

摘要

为了实现对人体消化道的无损检查及治疗

基于结肠主动检查和肿瘤热疗的控制要求

设计并实现了结肠诊疗微机器人控制系统。首先

设计了结肠诊疗机器人系统的硬件组成模块和硬件电路;基于射频双向无线通信

给出了软件通信流程和通信时序的实时性要求。之后

驱动运动机构完成仿尺蠖的蠕动运动

并采用PID型广义预测算法控制加热线圈对肠道实施热疗

控制转台角度可旋转观察肠壁图像。最后

通过管道实验和动物活体实验

验证了系统的控制性能。实验结果表明:射频双向通讯可在0.6 s内完成控制命令的发送和诊查数据的接收

机器人运动步态连续稳定

视频摄像头可查看肠道前方和侧壁0~360°的图像

对肠道肿瘤实施热疗能在50 s内稳定到热疗温度设定值。设计的系统基本满足结肠机器人对肠道实时诊查和热疗的要求。

Abstract

To realize the non-contact inspection and treatment of human gastro-intestines

a control system with bi-directional Radio Frequency(RF) was designed for a micro robot to heat the cancer of colon. First

the modules of control system and its hardware configuration were established.Then

the software program was completed and the movement control was efficiently implemented according to the timing sequence presented in this paper. Moreover

a driving mechanism was used to simulate the inchworm movement and the generalized predictive control algorithm of PID was introduced into the heat therapy. The control of a micro turning table could provide 0~360? positioning of cameras to show the video of colon tube in rotation. Finally

the system performance was tested as well. Experimental results indicate that the average RF communication time is 0.6 s and the step of the robot movement is continuum and stable. The angle of camera view can be changed from 0? to 360?

and the heat treatment can be stabled in 70 s. The experimental results demonstrate the effectiveness and reasonability of this control system and it satisfies the system requirements of real time inspection and thermal therapy for colons.

关键词

Keywords

references

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