10510 消化管内走行ロボットに関する研究(医用・福祉工学とメカトロニクス(2),OS13 医用・福祉工学とメカトロニクス)

Abstract

Recently, Japanese became accustomed to Western diet. Therefore, alimentary disease is increasing. Especially, it's important to detect colon polyp and the large intestine cancer early. The purpose of this research is development of small inspection robot, and it is an automatic round trip running in intestines. The movement method is an application of earthworm's expansion and contraction creeping type. The robot consists of the front or back holding parts and the expansion and contraction part at the center. The pneumatic devices are used for operation of robot. Each actuator is operated with the sequence control that uses MATLAB.