胃肠道监测胶囊夹紧工具问题分析及初步技术活动

Proceedings of the 2005 IEEE International Conference on Robotics and Automation Pub Date : 2005-04-18 DOI:10.1109/ROBOT.2005.1570296

A. Menciassi, S. Gorini, A. Moglia, G. Pernorio, C. Stefanini, P. Dario

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引用次数: 18

摘要

本文描述了一种主动夹紧机制的发展，将其整合到可吞咽的药丸中，用于胃肠道的诊断。夹紧系统允许在所需的胃肠道部位停止药丸，用于长期监测目的。在讨论了主要的技术限制条件后，阐述了基于有限元分析的夹紧系统的设计及其制造工艺。夹紧单元利用形状记忆合金(SMA)驱动，采用电线和弹簧配置，并由专用电气接口驱动。为了限制功耗，已经进行了微调。然后制作了一个工作样机并进行了初步测试，指出了该系统的抓取能力超过40 g。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Clamping Tools of a Capsule for Monitoring the Gastrointestinal Tract Problem Analysis and Preliminary Technological Activity

This paper describes the development of an active clamping mechanism to be integrated into a swallowable pill for the diagnosis of the gastrointestinal (GI) tract. The clamping system allows to stop the pill in desired sites of the GI tract for long monitoring purposes. After discussing the major technical constraints, the design of the clamping system, based on FEA (Finite Element Analysis), is illustrated as well as its fabrication process. The clamping unit is actuated exploiting Shape Memory Alloys (SMA), in wires and spring configuration, and it is driven by a dedicated electrical interface. A fine tuning has been performed in order to limit the power consumption. Then a working prototype is fabricated and preliminarily tested, pointing out a capability of the grasping system over 40 g.

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Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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