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http://dx.doi.org/10.3795/KSME-A.2010.34.6.789

Inchworm-Like Robotic Colonoscope UsingLegs for Clamping  

Park, Hyun-Jun (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Leem, Sang-Hyuck (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Kim, Byung-Kyu (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.34, no.6, 2010 , pp. 789-795 More about this Journal
Abstract
For the reliable clamping of a robotic colonoscope inside the colon, we propose a clamping module consisting of six legs at the front and a trigger at the rear. In addition, a pneumatic-line based locomotive mechanism, which was developed previously for in-pipe inspection, is adopted to reduce the friction force between the pneumatic lines and the locomotion environment. In order to evaluate locomotion performance, a robot with a diameter of 15 mm and a length of 110.250 mm is used. Based on control signal from LabVIEW, it is tested in acrylic pipe and pig's colon. The proposed robot is able to move in the curved path which has a radius of over 25 mm. The speed of the robot is 33 mm/s in a straight path and 12.1 mm/s on a vertical path. The proposed robot, which has one pneumatic line and two clamping modules, conclusively shows reliable locomotion performance under in vitro condition.
Keywords
Inchworm; Colonoscope; Robot; Pneumatic;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
Times Cited By SCOPUS : 0
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