A self-propelling endoscope system by squirmy robot

Author

Guozheng, Yan ; Jianyong, Zuo

Author_Institution

Sch. of Electron. & Inf. Technol., Shanghai Jiao Tong Univ., China

fYear

2003

fDate

19-22 Oct. 2003

Firstpage

159

Lastpage

163

Abstract

More and more miniature robots are used for human-oriented purposes, one of which is for medical inspection. A new model miniature robot for intestinal inspection based on earthworm is designed in this paper, and its diameter and length are φ 8.8 mm and 72 mm respectively. The micro robot is driven by stepper motor, which has better performance and simple design. The structure and locomotion mechanism of this robot are introduced. The mechanical model of it is build, and the control system and software design are discussed in detail. Some actuating characteristics experiments have been done when the micro robot creeps in the declining rubber and glass tubes. The experiment results show that this kind of robot can move reliably in horizontal and a certain declining tubes. This research has laid foundation for the application of the miniature robot endoscope.

Keywords

endoscopes; medical computing; medical robotics; microrobots; surgery; 72 mm; 8.8 mm; control system; declining glass tubes; declining rubber tubes; earthworm; human-oriented purposes; intestinal inspection; locomotion mechanism; medical inspection; microrobot; miniature robot; self-propelling endoscope system; software design; squirmy robot; stepper motor; Control system synthesis; Creep; Endoscopes; Inspection; Intestines; Medical robotics; Micromotors; Robots; Rubber; Software design;

fLanguage

English

Publisher

ieee

Conference_Titel

Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on

Print_ISBN

0-7803-8165-3

Type

conf

DOI

10.1109/MHS.2003.1249926

Filename

1249926