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Flexible Loop Wheel Mechanism for Intestine Movement

탄성 루프형 바퀴를 이용한 장 내 이동 메커니즘

  • Im, Hyeong-Jun (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Min, Hyeon-Jin (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
  • Kim, Byeong-Gyu (Micro System Research Center, Korea Institute of Science and Technology) ;
  • Kim, Su-Hyeon
  • 임형준 (한국과학기술원 기계공학과) ;
  • 민현진 (한국과학기술원 기계공학과) ;
  • 김병규 (한국과학기술연구원 마이크로시스템센터) ;
  • 김수현
  • Published : 2002.02.01

Abstract

An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.

Keywords

Endoscope;Loop Wheel;In-Pipe Robot;Caterpillar

References

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