Structural Design And Simulation Of Pneumatic Soft Medical Robot

At present,the power source required for the insertion of an intestine electronic endoscope is the thrust of doctor and the material of the endoscope is rigid.So the endoscope may hurt the intestine during the process.At present,the research of endoscopic robots mainly focuses on all-invasive robots.Due to the difficult energy supply and heat dissipation,semi-intrusive robots have more advantages.Semi-invasive endoscopic robots with high accuracy,however,rigid mechanical parts may still cause harm to the human intestine,and limited flexibility,non-structural,complex intestinal structure has limitations.The main work and achievements are as follows.Firstly,according to the physiological characteristics of the human colon,a soft and bendable structure of a pneumatic medical robot are designed and made physical object.Silicone material is a super-elastic material.In this paper,Mooney-Rivlin model analysis and material elastic modulus analysis are carried out to establish the theoretical model of static and dynamic mechanical joints of single and multiple soft joints of the robot.The corresponding relationship between input pressure,bending angle and deformation is analyzed.Secondly,the bending state of a single joint of a pneumatic medical robot is simulated by ANSYS Workbench simulation software under different pressure states.The pneumatic medical robot is continuous robot.The geometrical linear analysis method is used to analyze both positive and negative kinematics of the single and multiple joints and to obtained single joint in the space coordinate system position and attitude coordinates and the relationship between the air chamber pressure and elongation.Using MATLAB simulate single joint motion space,single and multi-joint end position transformation and the length change of the air cavity in space.Thirdly,this paper set up the hardware experiment platform and design software control system of pneumatic medical robot.This paper perform a series of experiments on bending angle transformation,axial elongation and conduct theoretical and experimental analysis.Combining the advantages of semi-invasive endoscope and soft robot,this paper designs a new type of pneumatic software robot that can be used in human intestine endoscope.The materials of pneumatic soft medical is silicone,which is light weight,high flexibility and the flexible material more suitable for human colon characteristics.The robot's power source for the gas-driven in vitro,the mechanical parts are nearly zero,no heat problems and high flexibility.In this paper,the structural design,hardware control platform,software system design,statics modeling and kinematics theory analysis and simulation are carried out.In the medical field,the new type of pneumatic medical robot has certain research value.