• Title, Summary, Keyword: Endoscope

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Magnetic Impact Actuator for Robotic Endoscope (대장내시경을 위한 자기 충격 액츄에이터)

  • 민현진;임형준;김병규;김수현
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.839-843
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    • 2001
  • For robotic endoscope, some researchers suggest pneumatic actuators based on inchworm motion. But, the existing endoscopes are not seemed to be replaced completely because human intestine is very sensitive and susceptible to damage. We design and test a new locomotion of robotic endoscope able to maneuver safely in the human intestine. The actuating mechanism is composed of two solenoids at each side and a single permanent magnet. When the current direction is reversed, repulsive force and attractive at the opposition side propels permanent magnet. Impact force against robotic endoscope transfer momentum from moving magnet to endoscope capsule. The direction and moving speed of the actuator can be controlled by adjusting impact force. Modeling and simulation experiments are carried out to predict the performance of the actuator. Simulation experiments show that force profile of permanent magnet is the dominant factor for the characteristic of the actuator. The results of simulations are verified by comparing with the experimental results.

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Development of Low Price Digital Endoscope with Database System

  • Kim, Sang-Bong;Lee, Young-Hwan;Kim, Sung-Wook;Kim, Suk-Yoel;Jeong, Nam-Soo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.74.2-74
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    • 2001
  • The availability of endoscope has been increased not only for observing inner parts of body but also for operating. Nowdays, the market of the endoscope has been widely extended and we presume that the value of marketablity will reach to wide. Most of the endoscope equipment is very expensive and as well, it costs a lot to repair or change the specific parts of equipment when it´s out of order on account of carelessness. About 90 percent of the endoscope equipment in the world is made in Japan. Therefore, to buy or repair the equipment, we can´t help outflowing foreign currency. In domestic, the efforts for localization and manufacturing the endoscope equipment are short. This paper shows that captured image from a CCD miniature carema is managed ...

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Radial Type Locomotive Mechanism with Worm for Robotic Endoscope (내시경 로봇을 위한 웜구동 방사형 이동메커니즘)

  • Kim, Kyoung-Dae;Lee, Seunghak;Kim, Byungkyu;Park, Jong-Oh
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.3
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    • pp.220-225
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    • 2002
  • 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.

Modeling and Experimental Validation of Earthworm-like Robot (지렁이 모사 로봇의 모델링 및 실험 검증)

  • Park Suk-Ho;Kim Byung-Kyu;Kwon Ji-Woon
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.30 no.3
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    • pp.287-294
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    • 2006
  • In recent years, capsule endoscope is highlighted for the patient's convenience and the possibility of the application in the small intestine. However, the capsule endoscope has some limitations to get the image of the digestive organ because its movement only depends on the peristaltic motion. In order to solve these problems, locomotion of capsule endoscope is necessary. In this paper, we analyze the locomotive mechanism of earthworm-like robot proposed as locomotive device of capsule endoscope and derive the condition which can Judge the possibility of its mobility using theoretical analysis. Based on a biomechanical modeling and simulation, the critical stroke, that is minimum stroke of the earthworm-like robot to perform motion inside small intestine, is obtained. Also, this derived critical stroke can be validated by the moving test of fabricated earthworm-like robot. Consequently, it is expected that this study can supply useful information to design of earthworm-like robot for mobility of capsule endoscope.

Current and Future Technologies for a Gastrointestinal Endoscopy (소화기 내시경의 기술 현황과 전망)

  • Chee, Young-Joon;Woo, Jih-Wan
    • Journal of Biomedical Engineering Research
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    • v.31 no.5
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    • pp.335-343
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    • 2010
  • This article presents a review of technologies for an endoscope. The classification according to the clinical applications and the imaging modalities are summarized. The major parts are focused on describing the gastrointestinal endoscope's structures and mechanisms. The details of the image enhanced endoscopic techniques, such as NBI (narrow band imaging), OCT (optical coherence tomography), and EUS (endoscopic ultrasound), are also explained. Finally, the trend of NOTES (natural orifice transluminal endoscopic surgery) which is new fusion technology in the field of endoscopic diagnosis and surgery is introduced.

An Implementation Of Real-Time Field-Sequential Stereoscopic Endoscope System (실시간 시분할 입체 복강경 시스템의 구현)

  • 최철호;서범석;권병헌
    • Proceedings of the IEEK Conference
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    • pp.115-118
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    • 2003
  • In this paper we implemented a field-sequential stereoscopic endoscope system that can generate stereoscopic images with different perspective depth using LCD stutter. Re stereoscopic image is generated from stereoscopic adapter that has LCD shutter. We have compared the stereoscopic depth of a field-sequential stereoscopic endoscope system with that of the conventional endoscope system. And the implemented system is verified by evaluation the field-sequential stereoscopic image on a Monitor. This system will be use to medical instruments in time.

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Successive Suturing Mechanism For Gastrointestinal Endoscope (내시경용 연속스티치 메카니즘)

  • 전종진;홍대희;이규백;전훈제
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • pp.1328-1331
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    • 2003
  • As rates of gastric cancer. fatness. and GERD (chronic gastric esophageal reflux disease) patients have been increased in the world, suturing mechanism using endoscope has been focused. which is the medical instrument to apply stitches and suturing inside the body, since it helps the patients lessen pains and reduce operation time. This paper deals with mechanism design, which makes it possible to apply multiple suturing without the repeat of inserting and removing the endoscope. This successive suture mechanism includes gripper, linkage, rotational part, and articulation part. Also, the mechanism is operated through 4mm one-side channel attached to the endoscope by means of pulling wires.

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Development of a Master-Slave System for Active Endoscope Using a Multi-DOF Ultrasonic Motor

  • Takemura, Kenjiro;Harada, Dai;Maeno, Takashi
    • Transactions on Control, Automation and Systems Engineering
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    • v.4 no.1
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    • pp.17-22
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    • 2002
  • Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

On the Development of a Video Endoscope Having a Swallowable Insertion Tube

  • Wooshik Kim;Woo
    • Journal of Biomedical Engineering Research
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    • v.14 no.3
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    • pp.243-250
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    • 1993
  • An endoscope is a medical device which observes the inner surface of an organ inside a body. Recently, a new type of endoscope using a CCD image sensor has been developed and turned out to have many strong points over the conventional optical fiber endoscope system. A swallowable insertion tube is an insertion tube having so small a diameter that the head of the insertion tube can reach the end of stomach only by mechanical movement of the esphagus and stomach or the patient's external movement. This paper presents some of the results that the Institute of Biomedical Engineering at Seoul National University has obtained while developing an electronic endoscope having a swallowable insertion tube. After some of the features of the developed system are presented, some of the image processing techniaues are addressed.

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A Study on a Ultra-wide-angle Wireless Digital Electronic Endoscope Modules (초광각 무선 디지털 전자 내시경 모듈에 관한 연구)

  • Shim, Dongha;Kim, Hyung-O;Lee, Bong-Ju;Hong, Seung-Cheol;Lee, Jason;Cha, Jaesang
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.63 no.4
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    • pp.570-574
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    • 2014
  • This paper proposes a wireless digital endoscope with a ultra-wide-angle view. Two key components are implemented to demonstrate the feasibility of the proposed endoscope. First, a ultra-wide-angle lens module with the field of view of 144 degree and F-number of 2.2 is designed and manufactured. Second, a wireless module for a high-speed video transfer is implemented using a USB device server and wireless LAN router. The wireless module can directly transfer a streaming video to a computer with the resolution of 1920x1080, frame rate of 30 fps, and data rate of 53.3 Mbps without an internet connection. Since the wireless module supports two USB devices, two spots can be simultaneously observed using the proposed endoscope.