Inchworm-Like Robotic Colonoscope UsingLegs for Clamping

다리를 이용한 클램핑 방식의 자벌레 이동방식 대장내시경로봇

  • Park, Hyun-Jun (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Leem, Sang-Hyuck (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.) ;
  • Kim, Byung-Kyu (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
  • 박현준 (한국항공대학교 항공우주 및 기계공학부) ;
  • 임상혁 (한국항공대학교 항공우주 및 기계공학부) ;
  • 김병규 (한국항공대학교 항공우주 및 기계공학부)
  • Received : 2009.09.08
  • Accepted : 2010.04.23
  • Published : 2010.06.01


For the reliable clamping of a robotic colonoscope inside the colon, we propose a clamping module consisting of six legs at the front and a trigger at the rear. In addition, a pneumatic-line based locomotive mechanism, which was developed previously for in-pipe inspection, is adopted to reduce the friction force between the pneumatic lines and the locomotion environment. In order to evaluate locomotion performance, a robot with a diameter of 15 mm and a length of 110.250 mm is used. Based on control signal from LabVIEW, it is tested in acrylic pipe and pig's colon. The proposed robot is able to move in the curved path which has a radius of over 25 mm. The speed of the robot is 33 mm/s in a straight path and 12.1 mm/s on a vertical path. The proposed robot, which has one pneumatic line and two clamping modules, conclusively shows reliable locomotion performance under in vitro condition.




Supported by : 지식경제부


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