DocumentCode :
383148
Title :
The design of a new type of micro robot for the intestinal inspection
Author :
Thomann, G. ; Bétemps, M. ; Redarce, T.
Author_Institution :
Lab. d´´Automatique Industrielle, Inst. Nat. des Sci. Appliquees de Lyon, Villeurbanne, France
Volume :
2
fYear :
2002
fDate :
2002
Firstpage :
1385
Abstract :
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 MIS 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.
Keywords :
automatic optical inspection; electropneumatic control equipment; intelligent control; medical robotics; microrobots; surgery; MIS; colon; contact minimization; electro-pneumatically driven colonoscope; intelligent colonoscope; intestinal inspection; medical endoscope; metal bellows; micro robot; minimally invasive surgery; Biomedical engineering; Endoscopes; Hospitals; Injuries; Inspection; Instruments; Intestines; Medical robotics; Minimally invasive surgery; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
Type :
conf
DOI :
10.1109/IRDS.2002.1043948
Filename :
1043948
Link To Document :
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