Development of the endoscope with the helical rotation propulsion mechanism

2010 Fiscal Year Final Research Report

• Project/Area Number: 21700502
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Medical systems
• Research Institution: Tokyo Institute of Technology
• Principal Investigator: TAKAYAMA Toshio Tokyo Institute of Technology, 大学院・総合理工学研究科, 講師 (80376954)
• Project Period (FY): 2009 – 2010
• Keywords: 医用ロボット / 内視鏡

Research Abstract

We proposed to use the helical rotation mechanism as a propulsion device of the endoscope, and developed some prototypes of smaller sizes as the endoscope. A helical rotation is a motion in which a helical body revolves about its body axis. The advantages of a helical rotation mechanism is it can be actuated by a simple, small and soft mechanism, it has low friction against the inside wall of the tube, it has hermetical body, and it does not disturbs fluid flowing in the pipe. We developed prototypes actuated by wire, SMA (shape memory alloy), and air pressure, and confirmed their specifications.

Research Products

• [Presentation] 管内螺旋捻転推進装置空気圧駆動による高速化 (2011)
  • Author(s): 堀智幸, 高山俊男, 小俣透
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会 11,2A2-M08
  • Place of Presentation: 岡山
  • Year and Date: 20110527-20110528
• [Presentation] 螺旋捻転推進-中腔性臓器用推進原理- (2011)
  • Author(s): 高山俊男, 倉田稔, 堀智幸, 小俣透
  • Organizer: 第3回医歯工学イノベーション・シンポジウム pp.10-11
  • Place of Presentation: 東京(諸情勢により中止.予稿集のみ発表予定者へ郵送)
  • Year and Date: 2011-03-19
• [Presentation] Helical Rotation In-Pipe Mobile Robot (2010)
  • Author(s): Minoru Kurata, Toshio Takayama, Toru Omata
  • Organizer: Proc.of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics pp.313-318
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 20100926-20100929
• [Presentation] 形状記憶合金アクチュエータを用いた螺旋捻転移動ロボット (2010)
  • Author(s): 倉田稔, 高山俊男, 小俣透
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会 10,2A1-E09
  • Place of Presentation: 旭川
  • Year and Date: 20100615-20100616
• [Presentation] 螺旋捻転移動装置-駆動部小型化のための考察- (2009)
  • Author(s): 倉田稔, 高山俊男, 小俣透
  • Organizer: 第27回日本ロボット学会学術講演会,2A1-06
  • Place of Presentation: 横浜
  • Year and Date: 20090915-20090917
• [Presentation] 管内螺旋捻転機構に関する研究 (2009)
  • Author(s): 倉田稔, 高山俊男, 小俣透
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会 09,2A1-K13
  • Place of Presentation: 福岡
  • Year and Date: 20090525-20090526
• [Remarks] ホームページ等