Abstract
The patient's load is requested from reduction Minimally Invation on a clinical site. This RTD 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. are useful. 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 the experiment that used the prototype, it was confirmed that running by a straight line route of hard pipe made of the acrylic resin horizontally set up in air, straight line route of soft pipe made of silicon rubber, and curve routes was possible (6mm both of pipe diameter).
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