Paper Info
Title
Paddling based Microrobot for Capsule Endoscopes
Abstract
Recently, the capsule endoscope can be widely used for the diagnosis of digestive organs. It is passively moved by the peristaltic waves of gastro-intestinal tract and thus has some limitations for doctor to get the image of the organ and to diagnose more thoroughly. As a solution of these problems, therefore, a locomotive mechanism of capsule endoscopes has being developed. Our proposed capsule-type microrobot has synchronized multiple legs that are actuated by a linear actuator and two mobile cylinders inside of the capsule. By the novel kinematic relation between the legs and the mobile cylinders, the microrobot can easily move forward in the gastro-intestine. For the feasibility test of the proposed locomotive mechanism, a series of experiments were carried out including in-vitro and in-vivo tests. Based on the experimental results, we conclude that the proposed locomotive mechanism is not only easy to be used for micro capsule endoscopes but also effective to move inside of intestinal tract.
Year
DOI
Venue
2007
10.1109/ROBOT.2007.363994
ICRA
Keywords
Field
DocType
medical robotics,robot kinematics,paddling based microrobot,digestive organ diagnosis,peristaltic waves,legged locomotion,capsule endoscopes,linear actuator,gastrointestinal tract,kinematic relation,robot locomotion,microrobots,biological organs,patient diagnosis,synchronized multiple legs,mobile cylinders,testing,leg
Endoscope,Linear actuator,Kinematics,Medical robotics,Simulation,Robot kinematics,Control engineering,Robot locomotion,Engineering,Capsule Endoscopes
Conference
Volume
Issue
ISSN
2007
1
1050-4729 E-ISBN : 1-4244-0602-1
ISBN
Citations 
PageRank 
1-4244-0602-1
17
3.59
References 
Authors
4
6
Name
Order
Citations
PageRank
Hyunjun Park1294.61
Sungjin Park26419.94
Euisung Yoon3174.94
Byungkyu Kim419035.93
Jong-Oh Park513338.86
Sukho Park65315.17