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  • K Wang, G Yan
  • 2007
For actively diagnosing the colon's pathologies micro-invasively or non-invasively, an autonomous prototype of the earthworm-like robot for colonoscopy was designed according to the principle of bionics, and manufactured using precision process technology. In vitro experiments in pig colon were carried out. The micro robot was driven directly by an(More)
The existing endoscope brings too much discomfort to patients because its slim and rigid rod is difficult to pass through alpha, gamma loop of the human intestine. A robotic endoscope, as a novel solution, is expected to replace the current endoscope in clinic. A microrobotic endoscope based on wireless power supply was developed in this paper. This robot(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)
This paper develops a new prototype of a wireless micro-robot system for endoscopes. The micro-robot we have fabricated and tested is able to propel itself in the intestine of pig. Its autonomous manner is earthworm-like and driven by linear actuators based on a DC motor. Unlike with conventional micro-robot endoscopes, that wireless module is used for(More)
BACKGROUND Traditional endoscopy may cause tissue trauma and discomfort to patients because of the use of relatively long and semi-rigid scopes. METHODS A wireless robotic endoscope has been designed based on minimally invasive locomotion and wireless techniques for energy, monitoring, and telecontrol. RESULTS The robotic endoscope can move forward or(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)
Miniature robotics for colonoscopy has become a hot research topic with the development of minimally invasive surgery (MIS). In this paper, a novel microrobot for colonoscopy that operates based on a simulation of the squirming motion of the earthworm is described. The robot uses a unique driving unit called a linear electromagnetic driver. The prototype(More)