Development of a Funicular Flexible Crawler for Colonoscopy*
Development of a Funicular Flexible Crawler for Colonoscopy*
复制标题
开发用于结肠镜检查的缆索柔性爬行器*
DOI：
10.1109/biorob.2018.8487181
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
K. Ogawa
中科院分区：
文献类型：
--
作者：
J. Nagase;F. Fukunaga;K. Ogawa
近年来，结直肠癌和息肉患者的数量不断增加。结肠镜检查常用于直肠和结肠疾病的诊断和治疗。在传统的大肠内窥镜检查中，将内窥镜进入大肠是一项极其困难的手术。因此，最近开发了许多机器人来促进这种操作。然而，他们不能独立或快速地移动。我们提出一个简单和紧凑的履带机制的结肠镜检查。它是由安装在机体外部的减速电机通过柔性轴驱动，适于通过狭窄空间推进。通过对大肠幻影的实验，我们证实了所提出的爬行器可以快速地从肛门跑到盲肠。如本文所述，这种推进机制适用于自行式结肠镜检查。
Recently, the number of colorectal cancer and polyp patients has been increasing. Colonoscopies are often used for diagnosis and treatment of rectal and colon diseases. Passing an endoscope into the large intestine is an extremely difficult operation in conventional large intestine endoscopy. Therefore, many robots to facilitate that operation have been developed recently. Nevertheless, they cannot move independently or quickly. We propose a simple and compact crawler mechanism for colonoscopy. It is suitable for propulsion through narrow spaces because it is driven by a geared motor arranged outside of the body through a flexible shaft. Through experimentation with a large intestine phantom, we confirmed that the proposed crawler can run quickly from the anus to the cecum. As described herein, this propulsion mechanism is applicable for self-traveling colonoscopy.
DOI：
10.1002/9780470987537.ch10
发表时间：
2020
期刊：
Geriatric Gastroenterology
影响因子：
--
作者：
E. Lim;J. Wang;Zhao Wang;T. Tillo;Ka Lok Man;T. NanZhang
通讯作者：
E. Lim;J. Wang;Zhao Wang;T. Tillo;Ka Lok Man;T. NanZhang
辅助结肠镜插入气动多腔胶管执行器的制作及基础实验
DOI：
--
发表时间：
2010
期刊：
影响因子：
--
作者：
Shuichi Wakimoto;Koichi Suzumori
通讯作者：
Koichi Suzumori