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
    Event2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket
    Duration: 2011 Dec 72011 Dec 11

    Other

    Other2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
    CityPhuket
    Period11/12/711/12/11

    Fingerprint

    Robots
    Friction
    Experiments

    ASJC Scopus subject areas

    • Computer Vision and Pattern Recognition

    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] https://doi.org/10.1109/ROBIO.2011.6181558

    Analysis of the colon by the biodynamic model and application to the colonoscope robot design. / Lee, Jaewoo; Kenya, Ukawa; Doho, Shuno; Ishii, Hiroyuki; Takanishi, Atsuo.

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. p. 1844-1849 6181558.

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

    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., 6181558, pp. 1844-1849, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, 11/12/7. https://doi.org/10.1109/ROBIO.2011.6181558
    Lee J, Kenya U, Doho S, Ishii H, Takanishi A. 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. 2011. p. 1844-1849. 6181558 https://doi.org/10.1109/ROBIO.2011.6181558
    Lee, Jaewoo ; Kenya, Ukawa ; Doho, Shuno ; Ishii, Hiroyuki ; Takanishi, Atsuo. / Analysis of the colon by the biodynamic model and application to the colonoscope robot design. 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. 2011. pp. 1844-1849
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