A novel miniature robotic endoscope design for intestinal inspection based on earthworm

作者：Chi, DX^*; Yan, GZ; Lin, LM

来源：International Workshop on Bio-Robotics and Teleoperation, China,Beijing, 2001-05-27 to 2001-05-30.

• Robotic endoscope design

As a part of NUS ("Minimally Invasive Surgery"), endoscope plays an important role in the field of diagnosis and treatment. To combine a miniature robot with an endoscope is a new dimension in field of medical robotics in recent years. Overcoming the shortcomings of the traditional endoscope, robotic endoscope applies new materials and technologies into the design of endoscope and booms the development of new type of endoscope. This paper compares the traditional endoscope system and robotic endoscope system and discusses the human intestine-working conditions of the robotic endoscope system in detail. The design requirements of the robotic endoscope system are put forward. An earthworm based robotic endoscope system is introduced and the structure and locomotion mechanism analyzed in detail. Though the running of robot is good, there still some problems, such as heat generation and locomotion mechanism on the inner intestinal surface, to be solved.

• 出版日期2001
• 单位上海交通大学