A miniature manipulator for integration in a self-propelling endoscope

被引：31
|
作者：
Peirs, J [1 ]
Reynaerts, D [1 ]
Van Brussel, H [1 ]
机构：
[1] Katholieke Univ Leuven, Dept Mech Engn, Div PMA, B-3001 Louvain, Belgium
来源：
SENSORS AND ACTUATORS A-PHYSICAL | 2001年 / 92卷 / 1-3期
关键词：
colonoscopy; inchworm; microrobotics;
D O I：
10.1016/S0924-4247(01)00570-2
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper presents a miniature robotic manipulator for integration in a self-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inchworm motion. The manipulator is used to orient camera and tools and has two bending degrees of freedom (+/- 40 degrees). It consists of two modules driven by an electromagnetic motor with worm gear reduction. Each module is 12.4 mm in diameter and 20 mm long. The total arm with integrated camera is 40 mm long. Also a miniaturised version has been built, having a diameter of 8.5 mm and one degree of freedom. Size and performance are compared with previously developed prototypes. (C) 2001 Elsevier Science B.V. All rights reserved.
引用
收藏
页码：343 / 349
页数：7
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