Design and Analysis of Surface Pressure Sensor for Colonoscopic Robot
The colonoscopic robot with continuum structure can offer enhanced environmental interaction by deforming to fit environmental constraints. In order to improve its perception ability and avoid perforation and other kickbacks, it is necessary to integrate pressure sensors into colonoscopic robot. A surface pressure sensor for the measure of contact pressure between colonoscopic robot and colon wall is designed. The sensor is made of aluminum and is 15.6mm in diameter and 3mm in width. It consists of external ring, internal ring, connection and two resistance strain gauge. The mechanical structure of the sensor is introduced. The mechanical characteristics is analyzed and simulated by the finite element analysis software ANSYS. The experiment system is built and the data is sampled through Wheatstone bridge. The data fitting is performed based on least squares method with Matlab software. The result shows that the surface pressure sensor has advantages of good linearity and accuracy. This study lays a foundation for the practical application of colonoscopic robot.
Wenzhe Chen, Pinqiang Dai, Yonglu Chen, Dingning Chen and Zhengyi Jiang
H. Y. Hu et al., "Design and Analysis of Surface Pressure Sensor for Colonoscopic Robot", Advanced Materials Research, Vols. 468-471, pp. 746-752, 2012