Title :
A self-propelling endoscopic system
Author :
Lim, Young MO ; Lee, Jinhee ; Park, Jisang ; Kim, Byungkyu ; Park, Jong-Oh ; Kim, Soo Hyun ; Yeh-Sun Hong
Author_Institution :
Microsystem Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
The existing colonoscope requires a dexterous skill of surgeon to perform the insertion in entire colon. The procedure is painful to the patient. Therefore, biomedical and robotic researchers are developing a locomotive colonoscope that can travel safely in colon In this paper, we describe a new design and concept of semi-autonomous micro robot for colonoscopy. The micro robot comprises the actuation system, bow-shaped flexible supporters to keep the space between colon wall and the actuator camera and LED for diagnosis and steering system to pass through the acute angle in colon. We suggest two actuating methods. One is based on the reaction force, and the other on impact force. For the performance test, the preliminary experiments are carried out in rigid pipe to validate the concept
Keywords :
biomedical engineering; biomedical measurement; cameras; light emitting diodes; medical robotics; microrobots; patient diagnosis; telerobotics; LED; biomedical research; bow-shaped flexible supporters; camera; dexterous skill; diagnosis; impact force; locomotive colonoscope; reaction force; self-propelling endoscopic system; semi-autonomous microrobot; steering system; Actuators; Cameras; Colon; Colonoscopy; Light emitting diodes; Orbital robotics; Robot vision systems; Space exploration; Steering systems; Surges;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976318
