Novel propelling mechanisms based on frictional interaction for endoscope robot

Y. T. Kim, Dae Eun Kim

Research output: Contribution to journalArticle

17 Citations (Scopus)

Abstract

In this work, two propelling mechanisms for a medical endoscope robotic system that can effectively move inside the intestinal track with minimum tissue damage were proposed. The first propelling mechanism utilized the rotational motion of a spiral-shaped body, and the second used the expansion and contraction motion of a stretchable body covered with polymeric surface structures. Both mechanisms were based on the frictional interaction between the robot body and the intestine surface. Through experiment, the biotribological behaviors of these mechanisms were investigated, and the major design parameters to achieve effective propelling motion with minimum tissue damage were identified. The results of this work will aid in the design of new endoscope robots that have motion control capability with adequate safety.

Original languageEnglish
Pages (from-to)203-211
Number of pages9
JournalTribology Transactions
Volume53
Issue number2
DOIs
Publication statusPublished - 2010 Mar 1

Fingerprint

endoscopes
Endoscopy
robots
Robots
Tissue
Motion control
Surface structure
Robotics
interactions
damage
intestines
robotics
contraction
safety
Experiments
expansion

All Science Journal Classification (ASJC) codes

  • Mechanics of Materials
  • Mechanical Engineering
  • Surfaces and Interfaces
  • Surfaces, Coatings and Films

Cite this

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Novel propelling mechanisms based on frictional interaction for endoscope robot. / Kim, Y. T.; Kim, Dae Eun.

In: Tribology Transactions, Vol. 53, No. 2, 01.03.2010, p. 203-211.

Research output: Contribution to journalArticle

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