A miniature manipulator for integration in a self-propelling endoscope

Abstract

Summary. This paper presents a miniature robotic manipulator that will be integrated into a self-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inch worm motion. The manipulator is used to orient camera and tools and has two bending degrees-of-freedom ( ± 40°). It consists of two modules driven by an electromagnetic motor with worm gear reduction. Each module is 12 mm in diameter and 20 mm long. The total arm with integrated camera is 40 mm long. Also a miniaturised version has been built, having a diameter of 8.5 mm and one degree-of-freedom.