Design And Analysis Of Colonoscopy Assisted Robot System

In recent years,natural orifice transluminal endoscopic surgery(NOTES)has become a research hotspot in the field of minimally invasive medicine.Colonoscopy is one of the techniques of endoscopic interventional diagnosis and treatment,and the development of its related instruments has also made great progress.At present,electronic colonoscopy is widely used in the diagnosis of clinical colon diseases.The high-definition imaging quality greatly improves the accuracy of diagnosis.However,mastering the entire process of colonoscopy requires a large amount of doctors' operating experience.Repetitive,extreme,and prolonged procedures can be uncomfortable and distracting to the physician,making the operation difficult to achieve optimal results,and leaving the possibility of injury or infection from corrosive intestinal fluids.In this paper,a colonoscopy assisted robot system is designed and studied.Under the premise of keeping all functions of endoscope,this colonoscopy assisted robot system can satisfy doctors to complete the operation of colonoscopy alone,which improves the efficiency,comfort and universality of surgery.This paper analyzes the physiological characteristics of the human intestinal and the basic operating procedures of colonoscopy.Based on the above theory,the design criteria of colonoscopy assistant robot system is proposed.According to the structure and driving principle of the colonoscope,the overall kinematics model of the colonoscope is established.The working space of the colonoscope is solved in Matlab software,and it provides a theoretical basis for the research of colonoscopy assisted robot end control.According to the design requirements,a design scheme of the colonoscopy assistant robot structure is proposed.The colonoscopy assistant robot is rationally arranged,which saves operating space and provides a convenient operation method for doctors.The key support part is subjected to static simulation by ANSYS to verify the feasibility of structural design.After analyzing the operable space of colonoscopy,UR3 e is selected as the posture adjustment arm of the colonoscopy delivery part.This article analyzes the motion characteristics and working space of the robot arm,and the analysis results meet the requirements of surgical operation;Colonoscopy conveyor adopts friction wheel driving method to ensure the continuity of lens body conveying.By analyzing the pressure and driving force of the friction wheel on the lens body,the protective measures for the colonoscope body are increased.The handle control system of colonoscopy assistant robot is fulfilled in this paper,including the construction of the control cabinet and the host computer control software based on Labview.According to the measurement of driving force of the endoscope wheel,each motor and driver are selected.A robotic arm simulation platform based on the ROS system is built,and the Moveit module of ROS(Robot Operation System)software is used to control robot movement in the Gazebo physics simulation environment,and study the motion planning of a robotic arm in a virtual environment.This article also builds a physical prototype of the colonoscopy assisted robot handle operation part.First,the control system is tested,and the input angle limit of the upper computer is set to protect the electronic colonoscope from damage.Then the relationship between the bending angle of the curved end of the colonoscope and the rotation angle of the dial is measured,which provides theoretical data for the upper computer image window to show the terminal bending state according to the rotation angle of the dial.The endoscopic physicians and non-medical personnel are compared for the effects of two training operations.The results show that the colonoscopyassisted robot is more suitable for novices and can master colonoscopy operation methods faster.Finally,the feasibility and effectiveness of the method are verified by controlling position and orientation of the manipulator through the ROS system.