Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Experimental Study on the Movement of Pneumatic Actuating Mechanism for Self-Propelling Endoscope

자율주행 내시경을 위한 공압 구동장치의 이동특성에 관한 실험적 연구

  • Lim, Young-Mo ;
  • Park, Ji-Sang (Micro System Research Center, Korea Institute of Science and Technology) ;
  • Kim, Byung-Kyu (Micro System Research Center, Korea Institute of Science and Technology) ;
  • Park, Jong-Oh (Micro System Research Center, Korea Institute of Science and Technology) ;
  • Kim, Soo-Hyun (Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology)
  • 임영모 (삼성경제연구소 기술산업실) ;
  • 박지상 (한국과학기술연구원 마이크로시스템 센터) ;
  • 김병규 (한국과학기술연구원 마이크로시스템 센터) ;
  • 박종오 (한국과학기술연구원 마이크로시스템 센터) ;
  • 김수현 (한국과학기술원 기계공학과)
  • Published : 2001.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a new locomotive mechanism using impulsive force for microcapsule-type endoscope. It has the compact size for movement in the colon and actuating mechanisms for hi-directional movement. The actuating mechanism resembles a pneumatic cylinder and consists of body, inertia mass(piston). spring. pneumatic source and calve. When valve is ON, the pneumatic impulsive force between piston and body drives them in two opposite direction. As the air in the body is passed away, the contrary movements are occurred by spring reaction. Therefore, the direction of body's motion is determined by the relative magnitude of two opposite impulsive forces, i.e., pneumatic and spring force. The effect of two impulsive forces can simply be controlled by On-Off time of solenoid valve.

Keywords

References

  1. Dario, P., Carrozza, M.C., Lencioni, L., Magnani, B., and D'Attanasio, S., 'A Micro Robotic System for Colonoscopy,' Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1567-1572, 1997 https://doi.org/10.1109/ROBOT.1997.614363
  2. Reynaerts, D., Peirs, J., and Brussel, H., 'Design of a Shape Memory Actuated Gastrointestinal Intervention System,' Int. Conf. on New Actuators, pp. 409-412, 1996
  3. Slatkin, A. B., Burdick, J., and Grundfest, W., 'The Development of a Robotic Endoscope,' Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 162-171, 1995 https://doi.org/10.1109/IROS.1995.526155
  4. Kumar, S., Kassim, I. M., and Asari, V.K., 'Design of a Vision-guided Microrobotic Colonoscopy,' Advanced Robotics, Vol. 14, No. 2, pp. 87-104, 2000 https://doi.org/10.1163/156855300741465
  5. 양석균, 민영일, '대장 내시경 진단,' 군자출판사, 1999
  6. 임형준, 민현진, 김수현, 곽윤근, 임영모, 김병규, 홍예선, '인체 장 내 이동을 위한 스마트 캡슐의 구동 체계에 관한 연구,' 대한기계학회 동역학 및 제어부문 하계 학술대회 논문집, pp. 276-281, 2000