로봇학회논문지 (The Journal of Korea Robotics Society)

  • 제4권1호
  • /
  • Pages.62-67
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  • 2009
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  • 1975-6291(pISSN)
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  • 2287-3961(eISSN)
한국로봇학회 (Korea Robotics Society)
권호 표지

캡슐형 내시경을 위한 체내 이동용 마이크로 로봇

Locomotive Microrobot for Capsule Endoscopes

  • Yang, Sun-Wook (Korea Institute of Science and Technology Nano-Bio Research Center) ;
  • Park, Ki-Tae (Korea Institute of Science and Technology Nano-Bio Research Center) ;
  • Lee, Seung-Seok (Korea Institute of Science and Technology Nano-Bio Research Center) ;
  • Na, Kyong-Hwan (Korea Institute of Science and Technology Nano-Bio Research Center) ;
  • Kim, Jin-Seok (Korea Institute of Science and Technology Nano-Bio Research Center) ;
  • Choi, Jong-Ho (Chonnam National University School of Mechanical Systems Engineering) ;
  • Park, Suk-Ho (Chonnam National University School of Mechanical Systems Engineering) ;
  • Park, Jong-Oh (Chonnam National University School of Mechanical Systems Engineering) ;
  • Yoon, Eui-Sung (Korea Institute of Science and Technology Nano-Bio Research Center)
  • 투고 : 2009.01.30
  • 심사 : 2009.02.18
  • 발행 : 2009.02.27
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초록

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 peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.

키워드

참고문헌

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