삼각 배치 구동에의한 스마트 캡슐의 이동 특성Motion Characteristics of Smart Capsule with Triangular Arrangement of Actuators

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At present, colonoscopy is performed by means of quite long and flexible endoscopes and controlled manually. Although the flexibility of the distal tip allows the endoscope to follow the tortuous path of the colon, the insertion of the endoscope requires the endoscopist to exert forces on and to perform rotations of the proximal end; these actions cause discomfort to the patient. Though self-propelling colonoscopic systems has been suggested to overcome these problems, it is difficult to pass through highly curved regions of the intestine. In this paper, we introduce a steering mechanism for a self-propelling coloinlscope, the smart capsule, which has three actuator units. The mechanism is designed not only to move forward and backward but also to pass through the curved regions. We derived the governing equations of this mechanism. Active movements and motion control are developed.
Publisher
한국정밀공학회
Issue Date
2001
Language
KOR
Citation

한국정밀공학회 춘계학술대회, v.1, pp.854 - 857

URI
http://hdl.handle.net/10203/137358
Appears in Collection
ME-Conference Papers(학술회의논문)
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