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

*この研究の対応する著者

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
ページ1844-1849
ページ数6
DOI
出版ステータスPublished - 2011
イベント2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand
継続期間: 2011 12月 72011 12月 11

出版物シリーズ

名前2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

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

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識

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