Locomotive Microrobot for Capsule Endoscopes

Sunwook Yang; Kitae Park; Seung Seok Lee; Kyonghwan Na; Jinseok Kim; Jongho Choi; Sukho Park; Jongoh Park; Eui-Sung Yoon

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자료유형: 학술저널

저자정보: Sunwook Yang (한국과학기술연구원) Kitae Park (과학기술연합대학원대학교) Seung Seok Lee (과학기술연합대학원대학교) Kyonghwan Na (한국과학기술연구원) Jinseok Kim (한국과학기술연구원) Jongho Choi (전남대학교) Sukho Park (전남대학교) Jongoh Park (전남대학교) Eui-Sung Yoon (한국과학기술연구원)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제4권 제1호

발행연도: 2009.3

수록면: 62 - 67 (6page)

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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.

#Capsule Endoscope #Locomotion #Steering Module #Camera Module #Integration

참고문헌 (20)

참고문헌 신청

1. [학술지(정기간행물)] - M. Appleyard / 2000 / A Randomized Trial Comparing Wireless Capsule Endoscopy With Push Enteroscopy for the Detection of Small-Bowel Lesions / Journal of Gastoenterology 119 (6) : 1431 ~ 1438

2. [학술지(정기간행물)] - G. Iddan / 2000 / Wireless Capsule Endoscopy / Nature 405 : 417 ~

3. [인터넷자원] - / / http://www.givenimaging.com/, Given Imaging Co., Israel

4. [인터넷자원] - / / http://www.rfnorika.com/, RF system lab., Japan

5. [학술대회논문] - S. Hirose / 1999 / Snake, Walking and Group Robots for Super Mechano-System / IEEE International Conference on Systems, Man, and Cybernetics : 129 ~ 133

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