S152022 大腸内視鏡搭載型ロボットの開発と死んだ豚の大腸内動作実験([S15202]生物規範型ロボット(2))

概要

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The number of large intestine cancer patients is increasing. However, large intestine cancer can be completely cured if it is treated at an early stage. An endoscope is used in diagnosis and also in treatment of a diseased part of an intestine. However, the large intestine is long and has slack in it such as the sigmoid and transverse colons. Therefore doctors must straighten this slacks to insert the endoscope, which may cause patients pain and discomfort. In this study, we developed an endoscopic robot with an artificial rubber muscle that moved with peristaltic crawling. Unlike other endoscopic robots, this robot can be attached to a conventional endoscope. We confirmed that the robot can pull up the slack of the sigmoid colon in a large intestine model that is similar to that of a human body. For it move forward in the large intestine of a dead swine, we fabricated a new mechanism. In addion, we performed two experiments of the robot moving forward through the intestine and pulling up it.
一般社団法人日本機械学会の論文
2011-09-11