Novel Propelling Mechanisms Based on Frictional Interaction for Endoscope Robot

摘要

In this work, two propelling mechanisms for a medical endoscope robotic system that can effectively move inside the intestinal track with minimum tissue damage were proposed. The first propelling mechanism utilized the rotational motion of a spiral-shaped body, and the second used the expansion and contraction motion of a stretchable body covered with polymeric surface structures. Both mechanisms were based on the frictional interaction between the robot body and the intestine surface. Through experiment, the biotribological behaviors of these mechanisms were investigated, and the major design parameters to achieve effective propelling motion with minimum tissue damage were identified. The results of this work will aid in the design of new endoscope robots that have motion control capability with adequate safety.