Locomotion and Steering Design of an Active Capsule Robot for Endoscopic Inspection

摘要：

A new locomotion-steering mechanism of an active capsule endoscopic robotic system is designed in this paper. The locomotion and steering principles are analyzed to allow the robot to move straightly and turn around in the intestinal environment. A micro-motor is used to actively actuate the endoscope robot for straight movements and steering. Spiral outer structure is basically employed to help produce propulsive force without contacting the intestine wall. The steering head actuated by the same motor is designed to control the moving directions adapted to the curved intestines in order to further ease the discomfort of the patient. A prototype is built and experiments are conducted to illustrate the proposed design.

关键词： Active endoscopic robot Locomotion and steering Spiral outer structure

作者: Jia Chen Xiaorui Zhu Chunxin Qiu

作者单位: Harbin Institute of Technology Shenzhen Graduate School,Shenzhen,Guangdong 518055,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 2344-2348

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）