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

The Korean Society of Mechanical Engineers (대한기계학회)
권호 표지
DOI QR코드

DOI QR Code

An Earthworm-Like Locomotive Mechanism for Capsule Endoscopes Using PZT Actuator

PZT 구동기를 이용한 지렁이 이동방식의 캡슐형 내시경용 마이크로 로봇

  • Published : 2006.01.01
Download PDF
⟨ Previous Next ⟩

Abstract

A wireless capsule endoscope has been developed to replace the conventional endoscope. However, the commercialized capsule endoscope moves passively by peristaltic waves, which has some limitations for doctors to diagnose more thoroughly and actively. In order to solve this problem, a locomotive mechanism is proposed for wireless capsule endoscopes. Based on the tests of various actuators, a piezo actuator is selected as a micro actuator for capsule endoscope. In general, piezo actuators are known to have limited displacement with high voltage supply. In order to overcome the limitation of common piezo actuator, the impact based piezo actuator, is developed to realize long stroke up 11mm. By using the impact based piezo actuator, a prototype of an earthworm-like locomotive mechanism was developed. In addition, the proposed locomotive mechanism has engraved clamps mimicked the claw of an insect. The earthworm-like locomotive mechanism has 15 mm in diameter and 30mm under retraction stage and 41 mm under elongation stage in total length. Hollow space is allocated to comprise essential endoscope components such as a camera, a communication module, bio sensors, and a battery. For the feasibility test of proposed locomotive mechanism, a series of experiments were carried out including in-vitro tests. Based on results of the experiments, we conclude that the proposed locomotive mechanism is effective to be used for micro capsule endoscopes.

Keywords

References

  1. Appleyard, M., et al., 2000, '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 https://doi.org/10.1053/gast.2000.20844
  2. http://www.givenimaging.com/, Given Imaging Co., Israel
  3. http://www.rfnorika.com/, RF system lab., Japan
  4. http://www.olympus.co.jp/, Olympus Co., Japan
  5. Menciassi, A, Stefanini, C., Gonni, S., Pemorio, G., Kim, B. and Park, J.O., 2004, 'Legged Locomotion in the Gastrointestinal Tract,' Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 937-942 https://doi.org/10.1109/IROS.2004.1389473
  6. Kim, B., Lee, S., Park, J.H. and Park, J-O., 2004, 'Inchworm-Like Microrobot for Capsule Endoscope,' Proceedings of IEEE International Conference on Robotics and Biominetics
  7. http://www.microsystem.re.kr/. Intelligent micro-system center, Korea
  8. Ko, H-P., Borodinas, S. N,, Kim, S-S, and Yoon, S-J., 2004,'A Study on the Tiny Piezoelectric Ultrasonic Linear Motor,' Proceedings of Electric & Electron Material, Summer Conference, Vol. 5, No. 2, pp. 826-829
  9. Clark, J. E., Cham, J. G., Bailey, S. A., Froehlich, E. M., Nahata, P. K., Full, R. J. and Cutkosky, M. R., 2001, 'Biomimetic Design and Fabrication of a Hexapedal Running Robot,' Proceedings of 2001 IEEE International Conference on Robotics and Automation, pp. 3643-3649 https://doi.org/10.1109/ROBOT.2001.933183
  10. Laksanacharoen, S., Pollack, A. J., Nelson, G. M., Quinn, R. D. and Ritzmann, R. E., 2000, 'Biomechanics and Simulation of Cricket for Microrobot Design,' Proceedings of 2000 IEEE International Conference on Robotics and Automation, pp.1088-1094 https://doi.org/10.1109/ROBOT.2000.844744
  11. Schoer, R. T., Boggess, M. J., Bachmann, R. J., Quinn, R. D. and Ritzmann, R. E., 2001, 'Comparing Cockroach and Whegs Robot Body Motions,' Proceedings of 2001 IEEE International Conference on Robotics and Automation, pp. 3288-3293 https://doi.org/10.1109/ROBOT.2004.1308761
  12. http://www2.worldbook.com/features/cybercamp/html/walkworm.html