Design and Analysis of Surface Pressure Sensor for Colonoscopic Robot

Abstract:

Article Preview

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.

Info:

Periodical:

Advanced Materials Research (Volumes 468-471)

Edited by:

Wenzhe Chen, Pinqiang Dai, Yonglu Chen, Dingning Chen and Zhengyi Jiang

Pages:

746-752

DOI:

10.4028/www.scientific.net/AMR.468-471.746

Citation:

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

Online since:

February 2012

Export:

Price:

$38.00

[1] B. Kim, S. Lee, J. H. Park, et al. Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs). IEEE/ASME Transactions on Mechatronics, 2005, Vol. 10 (2005) No. 1, pp.77-86.

DOI: 10.1109/tmech.2004.842222

[2] P. Dario, M. C. Carrozza, L. Lencioni, et al. A micro robotic system for colonoscopy. Proc. IEEE International Conference on Robotics and Automation (Albuquerque, April 20-25, 1997). pp.1567-1572.

[3] S. J. Phee, W. S. Ng, I. M. Chen, et al. Locomotion and steering aspects in automation of colonoscopy. IEEE Engineering in Medicine and Biology Magazine, Vol. 16 (1997) No. 6, pp.85-96.

[4] H. Hu, P. Wang, B. Zhao, et al. Design of a novel snake-like robotic colonoscope. Proc. IEEE International Conference on Robotics and Biomimetics (Guilin, China, December 19-23, 2010). p.1957-(1961).

DOI: 10.1109/robio.2009.5420543

[5] H. Hu, W. Li, J. Li, et al. Two-Dimension Guidance Control and Simulation of a Colonoscopic Robot. Proc. The 6th International Forum on Strategic Technology (Harbin, China, August 22-25, 2011), Vol. 1, pp.333-327.

DOI: 10.1109/ifost.2011.6021032

[6] G. Robinson and J.B.C. Davies. Continuum Robots-A State of the Art. Proc. IEEE International Conference on Robotics and Automation (Detroit, Michigan, 1999). pp.2849-2854.

[7] B. A. Jones and I. D. Walker. Kinematics for Multisection Continuum Robots. IEEE Transactions on Robotics, Vol. 22 (2006) No. 1, pp.43-55.

DOI: 10.1109/tro.2005.861458

[8] I. D. Walker, C. Carreras, R. McDonnell, et al. Extension versus bending for continuum robots. International Journal of Advanced Robotic Systems, Vol. 3 (2006) No. 2, pp.171-178.

DOI: 10.5772/5740

In order to see related information, you need to Login.