Paddling based Microrobot for Capsule Endoscopes
作者： Hyunjun Park , Sungjin Park , Euisung Yoon , Byungkyu Kim , Jongoh Park
DOI: 10.1109/ROBOT.2007.363994
关键词:
摘要: Recently, the capsule endoscope can be widely used for diagnosis of digestive organs. It is passively moved by peristaltic waves gastro-intestinal tract and thus has some limitations doctor to get image organ diagnose more thoroughly. As a solution these problems, therefore, locomotive mechanism endoscopes being developed. Our proposed capsule-type microrobot synchronized multiple legs that are actuated linear actuator two mobile cylinders inside capsule. By novel kinematic relation between cylinders, easily move forward in gastro-intestine. For feasibility test mechanism, series experiments were carried out including in-vitro in-vivo tests. Based on experimental results, we conclude not only easy micro but also effective intestinal tract.
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