TY - GEN
T1 - Development of large intestine endoscope changing its stiffness -2nd report
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
AU - Kumagai, Issei
AU - Wakimoto, Shuichi
AU - Suzumori, Koichi
PY - 2010
Y1 - 2010
N2 - Because the colon is soft and complex shape, current colonoscopy is not easy and depends on doctor's skill strongly. The purpose of this research is realization of a novel large intestine endoscope which can change own stiffness partially. By changing the stiffness, overload to the inner wall of the large intestine can be avoided. The developed endoscope consists of multiple stiffness change devices. The device is configured with fiber-reinforced silicone rubber and its stiffness can be controlled by air pressure. Previously we fabricated a prototype stiffness change device, however the changing range of it was not enough. In this paper, to improve characteristics of the device, we increase the number of reinforced fibers and introduce new driving system which controls not only positive pressure but also negative pressure. In addition, two new prototypes of the endoscope are developed. The effectiveness has been verified by insertion experiments in U-shaped route and the large intestine model.
AB - Because the colon is soft and complex shape, current colonoscopy is not easy and depends on doctor's skill strongly. The purpose of this research is realization of a novel large intestine endoscope which can change own stiffness partially. By changing the stiffness, overload to the inner wall of the large intestine can be avoided. The developed endoscope consists of multiple stiffness change devices. The device is configured with fiber-reinforced silicone rubber and its stiffness can be controlled by air pressure. Previously we fabricated a prototype stiffness change device, however the changing range of it was not enough. In this paper, to improve characteristics of the device, we increase the number of reinforced fibers and introduce new driving system which controls not only positive pressure but also negative pressure. In addition, two new prototypes of the endoscope are developed. The effectiveness has been verified by insertion experiments in U-shaped route and the large intestine model.
UR - https://www.scopus.com/pages/publications/79952954625
UR - https://www.scopus.com/pages/publications/79952954625#tab=citedBy
U2 - 10.1109/ROBIO.2010.5723334
DO - 10.1109/ROBIO.2010.5723334
M3 - Conference contribution
AN - SCOPUS:79952954625
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 241
EP - 246
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
PB - IEEE Computer Society
Y2 - 14 December 2010 through 18 December 2010
ER -