A MICRO ROBOTIC ARM FOR A SELF PROPELLING COLONOSCOPE

摘要

This paper presents a micro-robotic arm and associated micro-tools to be used in colonoscopy (inspection of the human gut). The robotic arm is to be placed at the tip of a self propelling endoscopic system for colonoscopy. Two designs for this endoscopic micro-arm, both actuated by shape memory alloys, are presented. The aim is to have 180 degrees rotation available at the tip of the endoscope without any mechanical driving system connected to the surgeon. First a modular actuator design is discussed. It consists of several “vertebras ” stapled together to a snake-like construction. The second prototype provides continuous motion and is based on a miniaturised planetary gear system. For the tools, a shape memory based as well as a hydraulic alternative are presented.