消化管内走行カプセル搭載用マイクロアームの研究

DOI
  • PHUNOPAS Amornphun
    九工大　大学院　情報工学府　情報システム専攻
  • 嶋田 隼人
    九工大　大学院　情報工学府　情報システム専攻
  • 村上 直
    九工大　大学院　情報工学府　情報システム専攻
  • 伊藤 高廣
    九工大　大学院　情報工学府　情報システム専攻
  • 林 輝
    小笠原プレシジョンラボラトリー

書誌事項

タイトル別名
  • A Novel Flexible Micro Arm for Intestinal Surgery

抄録

The use of micro fiber for the transmission of the forces and the movements in robotic micro arms has been investigated from several researchers all over the world. The interest in this kind of actuation modality is based on the possibility of optimizing the position of the actuators with respect to the moving part of the robot, in the reduced weight, reliability, simplicity in the mechanic design and flexibility with many DOF. This paper proposes a novel flexible micro arm that uses BioMetal Fiber (BMF) actuator. The BMF has very high durability and exhibits stable operating characteristics. It is being thin but capable of producing a powerful force. This platform can enable new medical devices for a capsule robot and for minimally invasive surgeries. Although, the flexible micro arm has multi-links, it can simplify many links as a partial curve. This paper presents kinematics of the flexible micro arm and experiment of bending property.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390001205655659008
  • NII論文ID
    130004661035
  • DOI
    10.11522/pscjspe.2012a.0.981.0
  • 本文言語コード
    ja
  • データソース種別
    • JaLC
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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