Asian Science Citation Index is committed to provide an authoritative, trusted and significant information by the coverage of the most important and influential journals to meet the needs of the global scientific community.  
ASCI Database
308-Lasani Town,
Sargodha Road,
Faisalabad, Pakistan
Fax: +92-41-8815544
Contact Via Web
Suggest a Journal
Journal of Medical Engineering & Technology
Year: 2009  |  Volume: 33  |  Issue: 1  |  Page No.: 25 - 32

Study on a miniature robotic system for active monitoring in the human respiratory tract

P. Zan, G. Yan and B. Huang    

Abstract: A three degrees-of-freedom inchworm-type robot is presented for miniature endoscope inspection in the human respiratory system. The robot is actuated with pneumatic artificial muscle and clamped by two air chambers. The robot`s extra resistance in the human trachea is analysed in detail and the dynamic model of the robot is built. In order to solve the problems of low stiffness and the nonlinear movement characteristic of the pneumatic robotic system, a fuzzy wavelet neural network controller is proposed to control the robot position servo system using the principle of pulse width modulation. Simulation and experimental results both demonstrate that the training of the fuzzy wavelet neural network controller is faster and the control quality is effectively improved. The monitoring experiments had been done in a swine trachea during mechanical ventilation, and the miniature system can dynamically measure respiratory parameters.

View Fulltext    |   Related Articles   |   Back
   
 
 
 
  Related Articles

No Article Found
 
 
 
Copyright   |   Desclaimer   |    Privacy Policy   |   Browsers   |   Accessibility