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ID:39402983
大小:1.27 MB
页数:72页
时间:2019-07-02
《机器人内窥镜主动避障子系统研究》由会员上传分享,免费在线阅读,更多相关内容在行业资料-天天文库。
1、上海大学硕士学位论文机器人内窥镜主动避障子系统研究姓名:张宝军申请学位级别:硕士专业:机械电子工程指导教师:钱晋武20030201cKrmheiayscrwuraolocrtctdshesoiIr:fpnimrssetoeetdbnsioactbisailnalcenretidonhnfbdeuosorpntsoecrcbtocootibptioetntniogsinbAocefeuoctnloohdoneomntarsmrtocooboidlcopelOtelehrbadsaerctvseoeiaincasnvcteharninoiecdeveunectdeldy..
2、TFt-hihenefraofelbesljcuyetl,crttltusheibsevb・heaeoxverwpoxteiphrdeaiactmntecehnedet.al上海大学硕士研究生学位论文THEPOSTGRADUATETHESISOFSHANGHAlUNIVERSlTYAbstractRoboticendoscopeisakindofimportanttechnologyformedicalrobots.Whentraditionalendoscopeisoperatedintheprocessofmedicaltreatment,somesurgicalc
3、omplicationmaybeposed,suchascolon-perforation,andtheenlaceoftheendoscopeintounidentifiableshapeinthepatientscolon.Owingtothecomplicationsthatmayarisewithtraditionalcolonscope,asdescribedabove,ourresearchaimsatdevelopingkeytechnologytodesignallintelligentandroboticendoscope.Thusimprovingi
4、tsreliabilityandsafety.ThisprojectissupportedbytheNationalNaturalNSactiioennacIHeiFgoh—uTnecdhaRt&DiPornogofChina,theram.Asoneoftheimportantpartoftheproject“ResearchonKeyTechnologyofInsertedEndoscopicRobot”,thisthesisdiscussesmainly‘‘TheAutomaticObstacle-avoidanceSubsystemofRoboticEndosc
5、opy”.Thefunctionofthissubsystemcanbeusedtocontroltheheadofendoscopytowindautomatically,avoidingperforatehumancolon.Byanalysisofthepresentconditionofintelligentendoscopyanddifficulties,theresearch’saimandcontentareestablishedfirstlyinthethesis.Inchapter2,thestructureandtissueofcolonisintr
6、oduced.Byexperimentofpigcolon’spress—deformation,someimportantdataareobtmned.Next,thethesisdiscussesthemanipulationmechanismthatisdesignedasanassistantapparatusoftheintelligentendoscopetorealizeautomaticobstacle・-avoidanceoftheroboticendoscope.Inchapter4,anewtypeofforcesensorisdeveloped,
7、whosesensingelementsarefourpiecesofresistance—effectrubbers.Thissensorcanbeusedtomeasuretheforceoninnercolonfromendoscopeindifferentdirections.Inchapter5andchapter6,theroboticcontrolsystemisdesigned,whichismadeupPCandmicrochips.Manysafeguardsareimplementedheretoensurethes
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