中文摘要：

为了实现对人体胃肠道的全程无创诊断，研制了一种具有自主运动能力并集成无线技术的内窥镜机器人系统．针对内窥镜机器人的胃肠道运动环境以及微型化的特点和要求，设计、制作了仿尺蠖柔性运动系统、无线供能系统和无线通讯系统并组装了机器人样机．实验结果表明：内窥镜机器人样机能够适应不同的运动环境而实现有效的主动运动；其无线供能系统在外部输入功率为14．7W的状态下，可以实现最小能量为360mw的传输，在8m的有效范围内可以实现实时遥控和30f／s的视频传输．

英文摘要：

To realize the minimally invasive diagnosis in the whole gastrointestinal tract, an endoscopic robot was developed with active locomotion ability and encapsulated with wireless technologies. Considering the locomotion environment and miniaturization of the endoscopic robot, three modules were designed and fabricated, which are inchworm-like flexible locomotion system, wireless power system and wireless communication system. The robotic prototype was also presented. The experimental results show that the endoscopic robot realizes the active locomotion for different environments; the wireless power system provides the minimum power of 360 mW with the input power of 14.7 W; the real-time telecontrol and video transmission with 30 f/s can be implemented within the distance of 8 m.