Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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Abstract

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.

본 논문은 자벌레 이동장치의 전, 후반부에 각각 여섯 개의 다리로 이루어진 고정장치를 사용하여 인체 내에서 원활하게 이동할 수 있는 대장내시경로봇을 제안하였다. 또한, 관탐사용 이동장치로 기 개발된 하나의 공압선을 이용한 자벌레 이동방식을 적용하여 공압선과 이동환경 사이의 마찰을 줄여주어 이동 성능을 높여주었다. 이동 성능을 평가하기 위하여 로봇을 직경 15mm, 길이 110~250mm 의 크기로 설계 및 제작 후, 아크릴 관과 죽은 돼지의 창자에서 이동실험을 수행하였다. 실험을 통하여 로봇은 곡관의 반경이 25mm 이상이면 이동이 가능함을 알 수 있었고, 직관의 경우 수평관에서 33mm/s, 수직관에서 12.1mm/s 의 이동 속도를 보여주었다. 결론적으로 하나의 공압선을 이용하여 구동되고 양단에 다리로 구성된 고정장치를 장착한 제안된 로봇은 대장내시경 로봇으로써 신뢰성이 높은 이동성능을 보여주었다.

Keywords

References

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  1. Input signal effects on the locomotion of a robotic colonoscope activated by a flexible shaft vol.18, pp.3, 2017, https://doi.org/10.1007/s12541-017-0055-y