A locomotive system mimicking pedal locomotion of snails for the capsule endoscope

Daisuke Hosokawa, Takuji Ishikawa, Hirohisa Morikawa, Yohsuke Imai, Takami Yamaguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Recently, a capsule endoscope has been used for medical diagnosis for the small intestine. It doesn't cause much pain to patients during the operation unlike a conventional endoscope. However, the capsule endoscope has some limitation in obtaining an image of the digestive organ because its movement depends only on the peristaltic motion. To overcome this problem, the locomotive system is necessary for the capsule endoscope. In this paper, we proposed two locomotive systems, mimicking the locomotive mechanism of snails and earthworms. First, we developed a scale up prototype of the crawler mimicking the locomotive mechanism of snails. It has five segments and four joints, where two of four joints are actuated by DC motors. In the front and rear segments, a suction cup is installed, which consists of an electromagnetic solenoid and a rubber sheet. In locomotion experiments on a horizontal plane and on an inclined plane of 10 degrees, we confirmed that the developed crawler could locomote at the speed of 17 mm/cycle. Secondly, we developed a prototype crawler mimicking the locomotive mechanism of snails and earthworms. It can elongate and contract itself longitudinally by using shape memory alloys (SMA) and compression springs. By using this mechanism, we could successfully shrink its size. This prototype crawler could stick and locomote on a horizontal plane. In locomotion experiments on a horizontal plane, we confirmed that the developed crawler could locomote at the speed of 3 mm/cycle. We think that this locomotive system is useful for the capsule endoscope for digestive organs.

Original languageEnglish
Title of host publication4th European Conference of the International Federation for Medical and Biological Engineering - ECIFMBE 2008
Pages1655-1659
Number of pages5
DOIs
Publication statusPublished - 2008 Dec 1
Event4th European Conference of the International Federation for Medical and Biological Engineering, ECIFMBE 2008 - Antwerp, Belgium
Duration: 2008 Nov 232008 Nov 27

Publication series

NameIFMBE Proceedings
Volume22
ISSN (Print)1680-0737

Other

Other4th European Conference of the International Federation for Medical and Biological Engineering, ECIFMBE 2008
CountryBelgium
CityAntwerp
Period08/11/2308/11/27

Keywords

  • Capsule endoscope
  • Shape-memory alloy
  • Snail-like robot

ASJC Scopus subject areas

  • Bioengineering
  • Biomedical Engineering

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