Active bending electric endoscope using shape memory alloy coil actuators

Wataru Makishi, Tadao Matunaga, Yoichi Haga, Masayoshi Esashi

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

20 Citations (Scopus)

Abstract

Bending motions of the tip of a conventional endoscope are controlled from outside the body by wire traction. A shaft of an endoscope should be relatively hard to avoid buckling by wire traction. Therefore, precise operation of the endoscope is difficult in complex shape areas such as the intestine. Furthermore, patients suffer pain during a procedure with an endoscope. An active bending electric endoscope using shape memory alloy(SMA) actuators has been fabricated. A CCD imager (410,000 pixels) is mounted at the end of the endoscope, and the tip has an omni-directional bending mechanism using three SMA coil actuators. The SMA coil actuators contract by supplying electrical current and bend the endoscope. The bending mechanism is controlled by a joystick from outside the body. The external diameter of the fabricated endoscope is 5.5 mm. The maximum bending angle of the fabricated endoscope is 90° (Curvature radius: 29 mm). The observation of the inside of a blood vessel model by the CCD imager of a fabricated endoscope is confirmed, The shaft of the fabricated endoscope, which is realized using SMA coil actuators instead of a traction wire, is soft. Therefore, the precise observation of a deep area of the small intestine with the fabricated endoscope might be possible without the patient suffering pain.

Original languageEnglish
Title of host publicationProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Pages217-219
Number of pages3
DOIs
Publication statusPublished - 2006 Dec 22
Event1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy
Duration: 2006 Feb 202006 Feb 22

Publication series

NameProceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Volume2006

Other

Other1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
CountryItaly
CityPisa
Period06/2/2006/2/22

Keywords

  • Active bending
  • CCD imager
  • Electric endoscope
  • SMA actuator

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Active bending electric endoscope using shape memory alloy coil actuators'. Together they form a unique fingerprint.

Cite this