用于呼吸道直接监测的柔性微机器人系统

根据人体呼吸系统的结构及生理特性，基于蠕动运动原理设计了适于人体气管及左右主支气管内自由移动的微机器人系统．该机器人系统采用三自由度空气压橡胶驱动器驱动的柔性移动机构．介绍了机器人机体的构造和运动原理，建立了机器人系统驱动力学模型并做了相应分析．在猪气管中进行了初步实验，在机械通气情况下监测了气管末端的压力和温度参数．初步的研究结果表明，该柔性驱动机器人系统可用于直接动态监测机械通气过程中的呼吸参数．

A Flexible Micro-robot System for Direct Monitoring in Human Trachea

According to the structure and physiological properties of human respiratory system, a micro-robot system based on earthworm creeping motion principle is designed to move freely in trachea and two main bronchia. The mobile mechanism of the robot is flexibly actuated by a 3-DOF pneumatic rubber actuator. The structure and locomotion mechanism of the robot are described, and driving mechanics models of the robot system are set up and analyzed. Primary experiments have been done in a swine trachea, and preesures and temperatures in the trachea end are measured dynamically during mechanical ventilation. The primary studies show that the flexibly actuated robot system is capable of monitoring the respiratory parameters directly and dynamically during mechanical ventilation.