• Title, Summary, Keyword: 루프형 바퀴

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Flexible Loop Wheel Mechanism for Intestine Movement (탄성 루프형 바퀴를 이용한 장 내 이동 메커니즘)

  • Im, Hyeong-Jun;Min, Hyeon-Jin;Kim, Byeong-Gyu;Kim, Su-Hyeon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.26 no.2
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    • pp.314-321
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    • 2002
  • 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.