Abstract
We develop an active colonoscopy system for realizing easy medical operation. In this report, we discuss required functions and specifications for the active colonoscopy system, and construct a prototype. 0ur proposed system is like a hyper redundant manipulator, which consists of plural units. Each unit consists of one actuated joint and two links, and control system is contained in the units. FSR(Force Sensing Resister) is also equipped as a tactile sensor for detecting the collision with colon. Using our prototype, we have basic experiments with a colon-shaped tube model and confirm the validity of the system.
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