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캡슐형 내시경을 위한 체내 이동용 마이크로 로봇
Locomotive Microrobot for Capsule Endoscopes 원문보기

로봇학회논문지 = The journal of Korea Robotics Society, v.4 no.1, 2009년, pp.62 - 67  

양성욱 (Korea Institute of Science and Technology Nano-Bio Research Center) ,  박기태 (Korea Institute of Science and Technology Nano-Bio Research Center) ,  이승석 (Korea Institute of Science and Technology Nano-Bio Research Center) ,  나경환 (Korea Institute of Science and Technology Nano-Bio Research Center) ,  김진석 (Korea Institute of Science and Technology Nano-Bio Research Center) ,  최종호 (Chonnam National University School of Mechanical Systems Engineering) ,  박석호 (Chonnam National University School of Mechanical Systems Engineering) ,  박종오 (Chonnam National University School of Mechanical Systems Engineering) ,  윤의성 (Korea Institute of Science and Technology Nano-Bio Research Center)

Abstract ▼ AI-Helper 아이콘AI-Helper

For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient's discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through pe...

주제어

#Capsule Endoscope   #Locomotion   #Steering Module   #Camera Module   #Integration  

AI 본문요약
AI-Helper 아이콘 AI-Helper

* AI 자동 식별 결과로 적합하지 않은 문장이 있을 수 있으니, 이용에 유의하시기 바랍니다.

대상 데이터

  • steer to the desired direction and angle. For the A/D (analog to digital) inputs from the joystick, the D/A (digital to analog) outputs to OP-AMP, and the calculation of the bending direction and angle, dSPACE controller (DS1103) was used. The steering module was tested and the maximum steering angle was about 35 deg.
  • of Israel. It is 10 mm in diameter and 27mm long with a CMOS camera, an RF module, illuminating LEDs, and a battery integrated. It can be swallowed and can transmit wireless still and moving images from the gastrointestinal tract.
  • The image sensor can provide 320 by 320 color images with 10 frames per second. The assembled camera module has 11mm of diameter and 13.5mm of length. In the current status, the camera module was connected with wires and the power was supplied and the image data were transferred by the wires.
  • In order to solve the problems, we proposed a paddling based locomotive mechanism. The proposed locomotive mechanism consists of a robot body, multiple legs, a commercialized micro motor and a lead screw[19]. However, the proposed capsular microrobot has some limitations, such as low speed in advancement, inconvenience to the operation, lack of an image module, and deficiency in a steering module.
  • In this paper, we proposed a SMA(shape memory alloy) based steering module. The steering module consists of three coil type SMAs and a body. It is well known that a coil type SMA has a large deformation ratio about 100 % and the actuation force is also sufficiently large.
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참고문헌 (20)

  1. M. Appleyard et al., "A Randomized Trial Comparing Wireless Capsule Endoscopy With Push Enteroscopy for the Detection of Small-Bowel Lesions", Journal of Gastoenterology, Vol. 119, No. 6, pp. 1431-1438, 2000. 

    상세보기 crossref

  2. G. Iddan, G. Meron, A. Glukhovsky, P. Swain, "Wireless Capsule Endoscopy", Nature, Vol. 405, pp. 417, 2000. 

  3. http://www.givenimaging.com/, Given Imaging Co., Israel. 

  4. http://www.rfnorika.com/, RF system lab., Japan. 

  5. S. Hirose, "Snake, Walking and Group Robots for Super Mechano-System", IEEE International Conference on Systems, Man, and Cybernetics, Vol. 3, pp. 129-133, 1999. 

  6. G. A. Pratt, "Legged Robot at MIT: What's New Since Raibert", IEEE Robotics & Automation Magazine, Vol. 7, pp. 15-19, 2000. 

    상세보기 crossref

  7. J. Ryu, Y. Jeong, Y. Tak, B. Kim, B. Kim, J-O Park, "A ciliary motion based 8-legged walking micro robot using cast IPMC actuators", Proceedings of International Symposium on Micro mechatronics and Human Science, pp. 85-91, 2002. 

  8. A. Menciassi, C. Stefanini, S. Gorini, G. Pernorio, P. Dario, B. Kim, J-O Park, "A Legged Locomotion in the Gastrointestinal Tract", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 1, pp. 937-942, 2004. 

  9. B. Kim, Y.K. Jeong, H.Y. Lim, T.S., Kim, J-O Park, P. Dario, A. Menciassi, H.R. Choi, "Smart Colonoscope System", IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Vol. 2, pp.1367 -1372, 2002. 

  10. P. Dario, P. Ciarletta, A. Menciassi, B. Kim, "Modeling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon", The International Journal of Robotics Research, Vol.23, No. 4-5, pp.549-556, 2004. 

    상세보기 crossref

  11. J. Peirs, D. Reynaerts, and H.V. Brussel, "A miniature manipulator for integration in a self-propelling endoscope", Sensors and Actuators A, Vol. 92, pp. 343-349, 2001. 

    상세보기 crossref

  12. B. Kim, S. Lee, J.H. Park, J-O Park, "Inchworm-Like Microrobot for Capsule Endoscope", Proceedings of IEEE International Conference on Robotics and Biomimetics, 2004. 

  13. Y. Lee, B. Kim, M. Lee, J-O Park, "Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot using Shape Alloy Memory", Proceedings of IEEE International Conference on Robotics and Automation, Vol. 5, pp. 5007-5012, 2004. 

  14. B. Kim, S. Park, and C. Jee, S. Yoon, "An Earthworm-Like Locomotive Mechanism for Capsule Endoscopes", Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. 

  15. Y.C. Fung, "Biomechanics-Mechanical Properties of Living Tissues", Berlin, Germany: Springer-Verlag, 1993. 

  16. D. P. Pioletti, L. R. Rakotomanana, "Non-linear viscoelastic laws for soft biological tissues", European Journal of Mechanics-A/Solids, Vol. 19, pp. 749-759, 2000. 

    상세보기 crossref

  17. J. Rosen, B. Hannaford, M. P. Macfarlane, M. N. Sinanan, "Force Controlled and Teleoperated Endoscopic Grasper for Minimally Invasive Surgery-Experimental Performance Evaluation", IEEE Transactions on Biomedical Engineering, Vol. 46, pp. 1212-1221, 1999. 

    상세보기 crossref

  18. E. Tanaka, R. Pozo, M. Sugiyama, K. Tanne, "Biomechanical response of retrodiscal tissue in the temporomandibular joint under compression", Journal of Oral and Maxillofacial Surgery, Vol. 60, pp. 546-551, 2002. 

    상세보기 crossref

  19. H.J. Park, S.J. Park, E.S. Yoon, B.K. Kim, J.O. Park, S.H. Park, "Paddling based Microrobot for Capsule Endoscopes", Proceedings of IEEE International Conference on Robotics and Automation, 2007. 

  20. http://www.intromedic.co.kr/, IntroMedic., South Korea. 

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