Developmen of the MIcro Robot for Alimentary Canal

本课题是研制一种能够在消化道内移动的微型机器人。机器人的操作利用了机器人的运动。我们研制了形状记忆合金机器人和气压机器人，并对两种机器人进行了评价。本研究的研究项目和结果如下。(1)2路方向性类型用于使用形状记忆合金的机器人。(2)该机器人由伸缩机构和线圈机构组成，通过形状记忆合金的加热使其恢复形状。(3)机器人是利用空气的压力，通过气囊将消化道内的空气保持住，然后通过波纹管推进的结构。(4)机器人在个人计算机控制下运动。(5)该机器人安装在小型CCD相机上。(6)证实大肠模型的内部可以移动。(7)作为评估两种类型的机器人的结果，气压机器人是suotable用于移动的消化道内。

This study is the development of micro robot which cab move the inside of digestive tract. The operation of the robot utilized the movement of the earthworm. We developed robot using the shape memory alloy and the robot using the airpressure, and two type robots were evaluted. Reaearch items and results of carryong out in this study are follows. (1) 2 way directivity type was used for the robot using shape memory alloy. (2) The robot is composed of pantagraph mechanism and coil mechanism, and it recovers by the energization heating in the shape, the shape memory alloy moves. (3) The robot using the air pressure retains the inside of the digestive tract by the balloon, and then, it is the structure which is propelled by the bellows. (4) The robot moves in the personal computer control. (5) This robot was mounted on small CCD camera. (6) It was confirmed that the inside of the large intestine model could be moved. (7) As a result of evaluating two type robots, the air pressure robot is suotable for moving the inside of the digestive tract.