자율이동 대장 내시경을 위한 공압 구동기의 특성Movement characteristics of pneumatic actuators for the semi-autonomous colonoscopic system

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In recent years, as changing the habit of eating, the pathology in the colon grows up annually. For that reason, the colonoscopy is generalized. But it requires much time to acquire a dexterous skill to perform an operation. And 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 propose a novel design and concept of semi-autonomous colonoscope and two actuators for the micro robot. The micro robot comprises camera and LED for diagnosis, steering system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to keep the space between colon wall and the actuator. For actuating mechanism, we suggest two models. One is based on the reaction force, and the other is impact force. In order to validate the concept and the performance of the actuators, we carried out the preliminary experiments in rigid pipes.
Publisher
대한기계학회
Issue Date
2001
Language
KOR
Citation

대한기계학회 2001춘계학술대회, v.1, pp.295 - 300

URI
http://hdl.handle.net/10203/137274
Appears in Collection
ME-Conference Papers(학술회의논문)
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