Analysis of the colon by the biodynamic model and application to the colonoscope robot design

Jaewoo Lee, Ukawa Kenya, Shuno Doho, Hiroyuki Ishii, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The general characteristics of the colon are proposed in the mechanical point of view. This is prerequisite information when we want to develop endoscopic robot which can move well in the human colon. Friction property which comprise static and dynamic friction coefficient is investigated. The elastic property of colon is also investigated: the radial tensile force is measured in the elastic range. The effect on the robot is revealed by using experimental method. The design parameters of the robot are then investigated: one is for the moving mechanism which has to be selected in view of mobility compared to the above knowledge. The other is for selection problem on the fin type and size in the inverse screw type. Several apparatus for friction property measurements were made and carefully made experiments. The resulting data were analyzed. Final results show that inverse screw type of robot has more mobility compared to the rotational inertia type.

Original languageEnglish
Title of host publication2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Pages1844-1849
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
Duration: 2011 Dec 72011 Dec 11

Publication series

Name2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
CountryThailand
CityPhuket
Period11/12/711/12/11

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition

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  • Cite this

    Lee, J., Kenya, U., Doho, S., Ishii, H., & Takanishi, A. (2011). Analysis of the colon by the biodynamic model and application to the colonoscope robot design. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 1844-1849). [6181558] (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). https://doi.org/10.1109/ROBIO.2011.6181558