微型胃肠道疾病诊疗机器人系统及其实验研究
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摘要
消化道疾病已经开始成为威胁国民身体健康的重要问题。目前，微型胃肠道疾病诊疗机器人系统的研究处于国际生物医疗器械的研究前沿。在国家和省部级科研计划的资助下，利用微机械加工、微执行器、微传感与微电子等技术，开展了面向临床应用的微型胃肠道疾病诊疗机器人系统的研究。
由于微型胃肠道疾病诊疗机器人运行在人体的胃肠道中，因此本文首先从胃肠道环境着手，依据其特殊的生理环境与生物力学特性，提出驻留-伸缩的主动运动方式。该机器人的动作主要由轴向伸缩与径向驻留两种方式组成。为获得机器人设计参数，对机器人的运动进行了以下几个方面的力学分析：机器人舱体运动时其外表面与肠道内壁在机器人轴线方向上的粘滞阻尼与摩擦损耗；静止时驻留舱体在径向上因支撑而带来的轴向驻留力；机器人整机在肠道中的运动条件；与肠道组织自身的弹性特性密切相关的运动效率。在上述力学分析的基础上，结合描述肠道应力-应变关系的超弹性本构方程，建立了描述机器人参数与临界步距之间关系的数学模型。通过离体肠道的物理模型实验测得模型在肠道中的运动速度与阻力等主要曲线，并将测试数据返回到临界步距数学模型中，推出了机器人参数的设计范围与基本设计准则。
在已优化的机器人参数范围内，选择了微型直流电机作为机器人驱动器，并分别设计与实现了机器人的机械机构与控制系统。针对机器人机械系统，分别采用了三种方式实现了驻留机构，两种方式实现了伸缩机构，并分析了各机构的主要力学特性；机器人的控制系统分为嵌入式本体运动控制系统与体外控制台两部分，并通过具体的微电子电路实现了嵌入式系统的硬件，并编写了控制算法与人机界面；完成的第三代机器人样机直径为13mm，长度为90mm，质量为22g，并以该参数为例，分析了机器人整机的运动特性，得到其运动时的负载曲线。
为提高机器人在胃肠道中的运动效率，降低机器人对胃肠道损伤的可能性，提出并研究了基于视觉导航的机器人主动转向系统。针对实际内窥镜图像，提出了暗区导航方法。该导航方法的核心算法可分为亮度提取、图像分割以及暗区中心计算三个部分。该核心算法得到的转向矢量位于图像空间中，通过将该矢量映射到被控参数空间中，实现视觉导航系统的闭环控制。为验证算法的有效性并研究算法细节，采用了实际的小肠内窥镜图像进行实验，最终通过小肠内窥镜图片库测试了整个导航算法的精度及计算速度。
针对微型胃肠道疾病诊疗机器人样机进行了力学性能测试与离体肠道实验。测试了各样机的两组力学曲线，分别是足伸出长度与支撑力关系曲线，与其轴向伸缩速度与输出力关系曲线，以验证整机的设计；在样机满足性能要求的基础上，进行了整机的水平与垂直模拟管道爬行测试，进一步测试了整机负载能力与运动速度之间的关系；最后采用离体猪小肠为实验对象搭建实验台测试了机器人运动能力。在模拟肠系膜支持良好的直径为18mm的离体肠道模型中，机器人能够有效地运动。通过离体实验说明，机器人在小肠直径适应性上与设计一致，验证了驻留-伸缩的运动方式。
综上所述，为了使机器人安全有效地运动在胃肠道环境中，本文从机器人运动方式入手建立了基于超弹性本构方程的临界步距数学模型，并在该模型的指导下进行了机器人的机械机构与控制系统设计，同时讨论了基于视觉的导航系统以提高机器人的安全性与运动效率，最后对研制的机器人样机进行了力学测试，通过离体肠道实验验证了驻留-伸缩的运动方式。
The diseases of the digestive tract became a significant problem in humanhealthcare. Nowadays, the actively locomotive diagnoses and treatment systemon the gastrointestinal (GI) tract is one of the focus points in the research of thebiotechnology worldwide. In the funding of the national, provincial andministerial-level projects, by the technology of micro mechanism, micro actuator,micro sensing and micro electronics, the intestinal micro robot system whichfaces the clinical application is researched.
According to the working environment of the intestinal micro robot, firstly,the specific physiological environment and biomechanical features are analyzed,and the gait of anchoring and extending is proposed. The motion of this robotmainly consists of two parts, extending in axial direction and anchoring in radialdirection. Secondly, the motions are analyzed in following aspects: the dampingand friction between the robot and the intestinal inner wall; the anchoring abilitybecause of the support of legs in the radical direction; the locomotion conditionof the robot; and the locomotion efficiency due to the elasticity of the intestinaltissues. Based on the above analyses, combining the hyper elastic model whichdescribes the stress-strain relation of the intestinal, a mathematical model thatdescribes the relationship between the robot parameters and critical step isdeduced. To obtain some key parameters in the critical step model, a robotsimulation model is used in in-vitro experiments, and the relation between themodel speed and the resistance force is acquired. Finally, the results in theexperiments are used to solve the critical step model and the range of some keyparameters and some guidelines in robot design processes are deduced.
With the optimized parameters range, micro direct current motor is selectedas robot actuator, and the mechanical system and its control system is designed and fabricated. By the discussion of principle of machinery and the calculationof mechanical property, the anchoring mechanism is designed in three forms andthe extending mechanism is in two forms. Meanwhile, the robot control systemis designed in two parts, on-board motion control and external console, and thehardware of on-board system is realized by the micro electronic technique, thecontrol algorithm and the human interface is programmed. Third generation ofthe robot prototype measures13mm in diameter,90mm in length and22g inweight, and by these parameters, the robot kinetic characteristic is analyzed, theload characteristic is calculated.
To increase the locomotion efficiency and reduce the GI tract damageprobability, a vision based robot steering system is proposed and researched.According to the real endoscopy image, a dark zone navigation method isproposed. The algorithm is consistsed of brightness feature extraction, imagesegmentation and dark zone center calculation. The steering vector in the imagespace, which is calculated by the algorithm, can be mapped into the controlledvariable space and forms a close loop control of the visual navigation system.By using real endoscopy image in the small intestine, details of the algorithm isdescribed. The accuracy and the speed of the navigation algorithm are tested byusing a small intestine endoscopy image database.
The mechanical feature of the micro intestinal robot prototype is tested, andthe prototype is used in an in-vitro experiment. Firstly, the relation between theanchoring leg length and the stall force, and the extending speed and the outputforce of robot prototypes are tested. Secondly, while the performance of eachmechanism fulfills the requirements, the robot was tested in both horizontal andvertical simulation tube for the relation of its load and speed. Thirdly, the robotis tested in in-vitro experiments by using the pig’s small intestine. The resultsshowed that the performance in diameter adaptability of the robot is the same asthe design, and the robot is locomotive in the intestinal model, which simulatesthe intestine is well supported by the mesentery.
As mentioned above, this thesis proposes critical step model based on ahyper elastic model for the GI robot firstly. Under the direction of the model, the mechanical system and the control system is designed and fabricated, the kineticcharacteristic is analyzed. Meanwhile, to make the robot working safely andeffectively in GI tract, a vision based navigation system, which using dark zoneextraction, is designed and discussed. Finally, the prototypes are tested and theentire design and fabrication is verified in experiments. The gait of anchoringand extending is tested in in-vitro experiments.
由于微型胃肠道疾病诊疗机器人运行在人体的胃肠道中，因此本文首先从胃肠道环境着手，依据其特殊的生理环境与生物力学特性，提出驻留-伸缩的主动运动方式。该机器人的动作主要由轴向伸缩与径向驻留两种方式组成。为获得机器人设计参数，对机器人的运动进行了以下几个方面的力学分析：机器人舱体运动时其外表面与肠道内壁在机器人轴线方向上的粘滞阻尼与摩擦损耗；静止时驻留舱体在径向上因支撑而带来的轴向驻留力；机器人整机在肠道中的运动条件；与肠道组织自身的弹性特性密切相关的运动效率。在上述力学分析的基础上，结合描述肠道应力-应变关系的超弹性本构方程，建立了描述机器人参数与临界步距之间关系的数学模型。通过离体肠道的物理模型实验测得模型在肠道中的运动速度与阻力等主要曲线，并将测试数据返回到临界步距数学模型中，推出了机器人参数的设计范围与基本设计准则。
在已优化的机器人参数范围内，选择了微型直流电机作为机器人驱动器，并分别设计与实现了机器人的机械机构与控制系统。针对机器人机械系统，分别采用了三种方式实现了驻留机构，两种方式实现了伸缩机构，并分析了各机构的主要力学特性；机器人的控制系统分为嵌入式本体运动控制系统与体外控制台两部分，并通过具体的微电子电路实现了嵌入式系统的硬件，并编写了控制算法与人机界面；完成的第三代机器人样机直径为13mm，长度为90mm，质量为22g，并以该参数为例，分析了机器人整机的运动特性，得到其运动时的负载曲线。
为提高机器人在胃肠道中的运动效率，降低机器人对胃肠道损伤的可能性，提出并研究了基于视觉导航的机器人主动转向系统。针对实际内窥镜图像，提出了暗区导航方法。该导航方法的核心算法可分为亮度提取、图像分割以及暗区中心计算三个部分。该核心算法得到的转向矢量位于图像空间中，通过将该矢量映射到被控参数空间中，实现视觉导航系统的闭环控制。为验证算法的有效性并研究算法细节，采用了实际的小肠内窥镜图像进行实验，最终通过小肠内窥镜图片库测试了整个导航算法的精度及计算速度。
针对微型胃肠道疾病诊疗机器人样机进行了力学性能测试与离体肠道实验。测试了各样机的两组力学曲线，分别是足伸出长度与支撑力关系曲线，与其轴向伸缩速度与输出力关系曲线，以验证整机的设计；在样机满足性能要求的基础上，进行了整机的水平与垂直模拟管道爬行测试，进一步测试了整机负载能力与运动速度之间的关系；最后采用离体猪小肠为实验对象搭建实验台测试了机器人运动能力。在模拟肠系膜支持良好的直径为18mm的离体肠道模型中，机器人能够有效地运动。通过离体实验说明，机器人在小肠直径适应性上与设计一致，验证了驻留-伸缩的运动方式。
综上所述，为了使机器人安全有效地运动在胃肠道环境中，本文从机器人运动方式入手建立了基于超弹性本构方程的临界步距数学模型，并在该模型的指导下进行了机器人的机械机构与控制系统设计，同时讨论了基于视觉的导航系统以提高机器人的安全性与运动效率，最后对研制的机器人样机进行了力学测试，通过离体肠道实验验证了驻留-伸缩的运动方式。
The diseases of the digestive tract became a significant problem in humanhealthcare. Nowadays, the actively locomotive diagnoses and treatment systemon the gastrointestinal (GI) tract is one of the focus points in the research of thebiotechnology worldwide. In the funding of the national, provincial andministerial-level projects, by the technology of micro mechanism, micro actuator,micro sensing and micro electronics, the intestinal micro robot system whichfaces the clinical application is researched.
According to the working environment of the intestinal micro robot, firstly,the specific physiological environment and biomechanical features are analyzed,and the gait of anchoring and extending is proposed. The motion of this robotmainly consists of two parts, extending in axial direction and anchoring in radialdirection. Secondly, the motions are analyzed in following aspects: the dampingand friction between the robot and the intestinal inner wall; the anchoring abilitybecause of the support of legs in the radical direction; the locomotion conditionof the robot; and the locomotion efficiency due to the elasticity of the intestinaltissues. Based on the above analyses, combining the hyper elastic model whichdescribes the stress-strain relation of the intestinal, a mathematical model thatdescribes the relationship between the robot parameters and critical step isdeduced. To obtain some key parameters in the critical step model, a robotsimulation model is used in in-vitro experiments, and the relation between themodel speed and the resistance force is acquired. Finally, the results in theexperiments are used to solve the critical step model and the range of some keyparameters and some guidelines in robot design processes are deduced.
With the optimized parameters range, micro direct current motor is selectedas robot actuator, and the mechanical system and its control system is designed and fabricated. By the discussion of principle of machinery and the calculationof mechanical property, the anchoring mechanism is designed in three forms andthe extending mechanism is in two forms. Meanwhile, the robot control systemis designed in two parts, on-board motion control and external console, and thehardware of on-board system is realized by the micro electronic technique, thecontrol algorithm and the human interface is programmed. Third generation ofthe robot prototype measures13mm in diameter,90mm in length and22g inweight, and by these parameters, the robot kinetic characteristic is analyzed, theload characteristic is calculated.
To increase the locomotion efficiency and reduce the GI tract damageprobability, a vision based robot steering system is proposed and researched.According to the real endoscopy image, a dark zone navigation method isproposed. The algorithm is consistsed of brightness feature extraction, imagesegmentation and dark zone center calculation. The steering vector in the imagespace, which is calculated by the algorithm, can be mapped into the controlledvariable space and forms a close loop control of the visual navigation system.By using real endoscopy image in the small intestine, details of the algorithm isdescribed. The accuracy and the speed of the navigation algorithm are tested byusing a small intestine endoscopy image database.
The mechanical feature of the micro intestinal robot prototype is tested, andthe prototype is used in an in-vitro experiment. Firstly, the relation between theanchoring leg length and the stall force, and the extending speed and the outputforce of robot prototypes are tested. Secondly, while the performance of eachmechanism fulfills the requirements, the robot was tested in both horizontal andvertical simulation tube for the relation of its load and speed. Thirdly, the robotis tested in in-vitro experiments by using the pig’s small intestine. The resultsshowed that the performance in diameter adaptability of the robot is the same asthe design, and the robot is locomotive in the intestinal model, which simulatesthe intestine is well supported by the mesentery.
As mentioned above, this thesis proposes critical step model based on ahyper elastic model for the GI robot firstly. Under the direction of the model, the mechanical system and the control system is designed and fabricated, the kineticcharacteristic is analyzed. Meanwhile, to make the robot working safely andeffectively in GI tract, a vision based navigation system, which using dark zoneextraction, is designed and discussed. Finally, the prototypes are tested and theentire design and fabrication is verified in experiments. The gait of anchoringand extending is tested in in-vitro experiments.
引文
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