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

  • 제26권8호
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  • Pages.1638-1644
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  • 2002
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  • 1226-4873(pISSN)
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  • 2288-5226(eISSN)
대한기계학회 (The Korean Society of Mechanical Engineers)
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내시경용 로봇을 위한 공압구동기의 운동특성 해석

Analysis for Movement Characteristics of Pneumatic Impulsive Actuator for Robotic Colonoscope

  • 발행 : 2002.08.01
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초록

A novel locomotion using the pneumatic impulsive actuator was proposed for robotic colonoscope. This locomotion showed good moving performance in the environment of rigid pipe, however, the displacement per one impact(step displacement) is greatly reduced due to the low stiffness and high damping characteristics of the colon. Therefore, the modeling technique based on spring and damping system is studied to predict the step displacement and some parametric studies are carried out to investigate main parameters that influence the step displacement of locomotion. Based on simulation result, a new locomotion to control the resistance force is suggested and fabricated. Through the experiment on the colon, the usefulness of modeling technique is confirmed and successful improvement of moving characteristics is achieved.

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참고문헌

  1. Ikuta K., Takeichi M. and Namiki T., 1999, 'Virtual Endoscope System with Force Sensation,' Proceedings of the 1999 IEEE International Conference on Robotics & Automation, pp. 1715-1031 https://doi.org/10.1109/ROBOT.1999.770356
  2. Ikuta K. and Nokata M., 1999, 'Two-lead-wire Drive for Multi-micro Actuators,' Proceedings of the 1999 IEEE International Conference on Robotics & Automation, pp. 1715-1031 https://doi.org/10.1109/ROBOT.1999.770461
  3. Dario P., Carroza M.C., Lencioni L., Magnani B. and D'Attansio S., 1997, 'a Micro-robotic System for Colonoscopy,' Proceedings of the 1997 IEEE International Conference on Robotics & Automation, pp. 1567-1572, Albuquerque (NM) https://doi.org/10.1109/ROBOT.1997.614363
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  5. Lim Y.M., Lee J., Park J., Kim B., Park J.O., Kim S.H. and Hong Y.S., 2001, 'A Self-Propelling Endoscopic System,' Proceedings of the IROS 2001, pp. 1117-1122, Hawaii https://doi.org/10.1109/IROS.2001.976318
  6. Kim B., Lee J., Lim Y.M., Park J.O., Kim H.S. and Hong Y.S., 2001, 'Locomotive Colonoscope,' Proceedings of the 1st Intelligent Microsystem Symposium, pp. 39-43, Seoul
  7. Lee L, 2001, 'Movement Characteristics of a Pneumatic Impulsive Actuator for Robotic Colonoscopy System,' MS Thesis, Hanyang University, Seoul