Abstract
The patient's load is requested from reduction minimally invasion on a clinical site. This study has aimed at the development of the In-pipe Micro Robot thought that the examination in the blood vessel and the removal of the tumor, etc. . . As the drive system for the robot, the expansion of the balloon by the force feed of the physiologic saline and the peristalsis movement mechanism using shrinkage were designed and produced. In this study, we developed two type in-pipe micro robots, and examine the effectiveness of these robots experimentally. From several experiments, availability of these robots is confirmed.
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