3650 ヒトの大腸モデル内走行を目指したマイクロロボットの提案(G15-5 ロボティクス・メカトロニクス(5) ロボットシステム,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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An inspection of the large intestine is very effective in order to prevent the large intestine cancer. A fiberscope is excellent for the inspection of the large intestine. Many microrobots that can move in the large intestine have been proposed by several research groups. The actual large intestine in our human body is flexible and has very severe bending curve at the sigmoid. We propose a new microrobot that can surely move in the large intestine in the human body. We use seven rubber bellows in series. Two outer rubber bellows actuators are provided eight bulging rubber sheets. These are called as the braking mechanism. The moving mechanism moves the microrobot by stretching and shrinking. Four rubber bellows are arranged after the moving mechanism in a matrix condition. The microrobot has been confirmed to move from the anus to the cecum in the artificial human's large intestine model for the freshman doctor's inspection training using the fiberscope.
2008-08-02