The design of an instrumented surgical tool for the intestinal inspection

In the last few years, we have observed a fast development of modern science and technology. In the field of medical engineering, the same evolution is observed, and the Minimally Invasive Surgery (MIS) has became one of the most important research area. Medical endoscope is one typical medical instrument that complies with the requirement of MIS. This paper deals with the design of a new type of micro-robot for intestinal inspection. Because of the injuries caused by the colonoscope during the operation, and the long time spent at the hospital by the patient, we focus on a new type of intelligent colonoscope. The main purpose of this medical tool is to be in accordance with MS by minimizing the contact between the colonoscope and the interior boundary of the colon, and to make the progression of the colonoscope easier for the surgeon. Our current prototype, which is twice the size of the final tool, is electro-pneumatically driven. It is constituted by three metal bellows disposed 120 apart, and its position in the intestine is driven by three sensors positioned on the superior plate. Some experimental results are presented.