Title :
A microrobot for colonoscopy
Author :
Carrozza, M.C. ; Lencioni, L. ; Magnani, B. ; Dario, P. ; Reynaerts, D. ; Trivella, M.G. ; Pietrabissa, A.
Author_Institution :
Mitech Lab, Scuola Superiore Sant´´Anna, Pisa, Italy
Abstract :
Describes the development of a new microrobotic system for colonoscopy. The aim of the project is to design and fabricate a miniature device for colonoscopy which should provide the same (or better) functions as a conventional system, but much less pain and discomfort for patient. The microrobot the authors have fabricated and tested is able to propel itself in the colon in a semi-autonomous manner by inchworm locomotion obtained by means of pneumatic actuators controlled by shape memory alloy (SMA) microvalves. The microrobot, its propelling principle and the design and fabrication of the SMA microvalves are illustrated
Keywords :
biomedical equipment; micromechanical devices; mobile robots; patient treatment; pneumatic systems; shape memory effects; colonoscopy; inchworm locomotion; medical instrumentation; microrobotic system; miniature device; minimally invasive therapy; patient discomfort; patient pain; pneumatic actuators; semiautonomous propulsion; shape memory alloy microvalves; Colon; Colonoscopy; Fabrication; Microvalves; Pain; Pneumatic actuators; Propulsion; Shape control; Shape memory alloys; Testing;
Conference_Titel :
Micro Machine and Human Science, 1996., Proceedings of the Seventh International Symposium
Conference_Location :
Nagoya
Print_ISBN :
0-7803-3596-1
DOI :
10.1109/MHS.1996.563428
