Learn More
In recent years, an intelligent noninvasive endoscope has been felt necessary for early diagnosis of malignant tumor in gastrointestine (GI). It is our purpose to develop a microwireless robotic endoscope to examine the human GI. The presented robot's diameter and length is 10 and 190 mm, respectively. A locomotion principle based on biomimetic earthworm is(More)
This paper proposes a new prototype of wireless micro-robot system for endoscope. The micro-robot we have fabricated and tested is able to propel itself in the intestine canal of pig in an autonomous manner by earthworm locomotion. It is different from the conventional micro-robot endoscope that wireless module is used for communicating and power transfer(More)
The snake-like robot can be adaptive to many terrains with its abundant gaits. Serpentine locomotion is adopted widely, while concertina, side winding and rectilinear motions are considered little. To improve the adaptability in non-known environment, it is essential to include more locomotion methods into one robot. In that case, the robot can change its(More)
Localization system was designed based on analytic equation of permanent magnetic field to localize the swallowing electrical capsule in the gastrointestinal. Algorithm was presented and experiment was made. Two three-axis magnetism sensors were mounted in the capsule. The non linear equations set of sensor's output and capsule's position and attitude was(More)
(2011). Design and fabrication of a novel tactile sensory system applicable in artificial palpation. A self-developed and constructed robot for minimally invasive cochlear implantation. The role of the robotic technique in minimally invasive surgery in rectal cancer. A. (2010). Safety of robotic-assisted treadmill therapy in children and adolescents with(More)
Non-invasive colonoscopy is an important procedure to find the malignant tumor of large intestine in its early stage. Micro mimetic robot shows a potential advantage to perform the examination because of its small volume and autonomous locomotion principle. This research presented a prototype of micro robotic colonoscope based on inchworm-like motion(More)
A nature snake changes its gaits in different environment, so it is important for a snake-like robot to have more available gaits for a higher adaptability. In this paper, a novel snake-like robot is proposed to verify the motion fusion of rectilinear gait and serpentine gait. At first, the two gaits ant their fusions are analyzed and modeled. Then, the(More)
Non invasive micro robotic colonoscope can be applied in health care to find the malignant tumor in its early stage. This project presented a novel squirm robot prototype with 13 mm diameter, 105 mm length, and 22.3 g weight. The robot is actuated by three linear motors which are composed of micro motor, turbine-worm, and wire wrapping-sliding mechanism.(More)