20705 腸管内を走行できるマイクロロボットのブレーキ特性に関する研究(OS7 ロボティックス・メカトロニクス(4),オーガナイズドセッション)

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 proposing 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.
一般社団法人日本機械学会の論文
2010-03-09