Endoscopic Robot Based on Friction Control in Intestinal Tract

Abstract

Abstract: To improve the diagnosis ability of intestinal diseases, a colonic micro-robot was proposed, based on friction control. The friction model analyzed the factors of the intestinal friction control. Under the use of custom-built templates and adhesive polymers, some experiments on the in vitro intestinal surface investigated the influences of contact pattern and contact viscosity. Considering the frictional factors and the applied environment, a friction contact device was designed for the endoscopic robot to realize the frictional locomotion. The experimental results show that the robotic prototype can adapt the serious environments to realize the active locomotion, and the locomotion environments may also produce different influences on its active locomotion speed.

Key words: endoscopic robot, friction, intestinal tract

CLC Number:

GAO Peng-1, 2 , YAN Guo-Zheng-1. Endoscopic Robot Based on Friction Control in Intestinal Tract[J]. Journal of Shanghai Jiaotong University, 2012, 46(11): 1707-1711.

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