Abstract
Human body need the soft characteristics of the endoscope, so traditional endoscope which has rigid feature is bound to be eliminated. Silicone, as the endoscope material, is the most suitable for the human colon. The pneumatic drive robot can achieve the flexible and fast purpose. However, the pneumatic drive robot is difficult to control and its control accuracy is low. Mechanical drive robot has high accuracy and easy control. So combination with the advantages of the pneumatic drive robot and the mechanical drive robot is very essential. A medical pneumatic robot is designed and kinematics analysis is proposed in this paper based on the analysis of the anatomical characteristics of human colon and the bionic principle of continuous robot. The medical pneumatic soft robot is driven by gas, which voids the shortcomings of the traditional rigid endoscopic. The traditional rigid endoscopic can’t adapt to the human complex colon and has invasive examination to the human body. In addition, this paper proposes a new method that uses mark string holes tube to inflate and deflate the pneumatic channel on the tube and uses the mechanical control outside the human body to realize driving the pneumatic bending system in the human body. Medical pneumatic soft robot is a new therapeutic system for minimally invasive surgery, serving as a new therapeutic method for lesions in organ chambers.
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Acknowledgements
The work was supported by the National Science Foundation of China (51375058, 51775052) and Beijing Key Laboratory of Space-ground Interconnection and Convergence.
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Li, D., Guo, Y., Gao, F. (2018). Structure Design and Positive Kinematics Analysis of Medical Pneumatic Soft Robot. In: Tan, J., Gao, F., Xiang, C. (eds) Advances in Mechanical Design. ICMD 2017. Mechanisms and Machine Science, vol 55. Springer, Singapore. https://doi.org/10.1007/978-981-10-6553-8_82
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DOI: https://doi.org/10.1007/978-981-10-6553-8_82
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