摘要
Commercializedcapsule-typeendoscopesmovepassivelybyperistalticwaves(andgravity),whichmakesitdifficultfordoctorstodiagnosetheareasofinterestmorethoroughlyandactively.Toresolvethisproblemofpassivity,itisnecessarytofindaspeciallocomotionprinciple,whichfitsthegastrointestinal(GI)tract.Inthispaper,aleggedlocomotivemechanismwithshapememoryalloy(SMA)actuationbasedontheperistalticprincipleisproposed,andthenthestructureofthelocomotionmechanismisintroduced.Basedonthepreliminaryresults,thedesign,modeling,andfabricationofanSMAmicroactuationconceptforapplicationinanendoscopiccapsulearegiven,aswellastheSMAspringandleggedcomponentdesign,whichisthecoresectionofthesystemdesign.Weusedthepseudo-rigid-bodymodel(PRBM)toanalyzenonlinearandlargedeflectionsoftheSMAleggedcomponent.Thus,aprototypeendoscopewithanSMAspringandsixleggedcomponentswasdesignedandfabricated.Itis15mmindiameterand33mmintotallength,withahollowspacetohouseotherpartsneededforendoscopysuchasacamera,aradiofrequency(RF)module,andsensors.Duringtesting,thelocomotivemechanismwaseffectiveinaplastictubeenvironment.
出版日期
2011年03月13日（中国期刊网平台首次上网日期，不代表论文的发表时间）
