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내시경 로봇을 위한 웜구동 방사형 이동메커니즘

Radial Type Locomotive Mechanism with Worm for Robotic Endoscope

  • 발행 : 2002.03.01

초록

In this paper, we suggest a new locomotive mechanism fur self-propelling robotic endoscope which could substitute conventional endoscope. Many researchers proposed inchworm-like mechanism for self-propelling robotic endoscope. But it could not be commercialized because they did not solve the limitation caused by clamping. Therefore, we suggest a new radial-type locomotive mechanism with worm. It can propel itself in any situation and take passive-steering because of radial type. In addition, it can be miniaturized with worm. In this paper, we evaluate the mechanism in the dead pig colon as well as under various environments, and verify the performance fur robotic endoscope.

참고문헌

  1. S. J. Phee, W. S. Ng, I. M. Chen, F. Seow-Choen, and B. L. Davies, 'Locomotion and steering aspects in automation of colonoscopy,' IEEE Engineering in Medicine and Biology Magazine, pp. 85-96, Nov.-Dec., 1997 https://doi.org/10.1109/51.637122
  2. P. Dario, M. C. Carrozza, L. Lencioni, B. Mahnani, and S. D'Attanasio, 'A micro robotic system for colonoscopy,' Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp. 1567-1572 https://doi.org/10.1109/ROBOT.1997.614363
  3. A. Brett Slatkin and Joel Burdick, 'The development of a robotic endoscope,' Proc. IEEE/RSJ Int. Conf. On Intelligent Robots and Systems, pp. 162-171 https://doi.org/10.1109/IROS.1995.526155
  4. H. D. Hoeg, A. B. Slatkin, J. W. Burdick, and Dr. Warren S. Grundfest, 'Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope,' Proceedings of the 2000 IEEE International Conference on Robotics & Automation, San Francisco (CA), pp. 1599-1606 https://doi.org/10.1109/ROBOT.2000.844825

피인용 문헌

  1. Inchworm-Like Colonoscopic Robot with Hollow Body and Steering Device vol.49, pp.1, 2006, https://doi.org/10.1299/jsmec.49.205
  2. Modeling and dynamic analysis of the worm-like part of an innovative robot applicable in colonoscopy vol.9, pp.3, 2013, https://doi.org/10.1002/rcs.1510