TY - GEN
T1 - Development of large intestine endoscope changing its stiffness
AU - Wakimoto, Shuichi
AU - Kumagai, Issei
AU - Suzumori, Koichi
PY - 2009/12/1
Y1 - 2009/12/1
N2 - Recently, the need of colonoscopy is increasing because of the rise of colonic disorder including cancer of the colon. However, current colonoscopy depends on doctor's skill strongly. Therefore, a large intestine endoscope which does not depend on the techniques of a doctor with high safety is required. In this research, we aim at development a novel large intestine endoscope which can change own stiffness partially and realize safe insertion without specific techniques. In this paper, we have developed a device which changes own stiffness and applying it to a prototype large intestine endoscope. The device consists of fiber-reinforced silicone rubber and is able to change its stiffness by air pressure. The effectiveness of this device was analyzed by nonlinear FEM (finite element method) and was confirmed experimentally. In addition, we developed a prototype of the large intestine endoscope changing its stiffness by linking some stiffness change devices and verified the effectiveness by fundamental insertion experiments in U-shaped route.
AB - Recently, the need of colonoscopy is increasing because of the rise of colonic disorder including cancer of the colon. However, current colonoscopy depends on doctor's skill strongly. Therefore, a large intestine endoscope which does not depend on the techniques of a doctor with high safety is required. In this research, we aim at development a novel large intestine endoscope which can change own stiffness partially and realize safe insertion without specific techniques. In this paper, we have developed a device which changes own stiffness and applying it to a prototype large intestine endoscope. The device consists of fiber-reinforced silicone rubber and is able to change its stiffness by air pressure. The effectiveness of this device was analyzed by nonlinear FEM (finite element method) and was confirmed experimentally. In addition, we developed a prototype of the large intestine endoscope changing its stiffness by linking some stiffness change devices and verified the effectiveness by fundamental insertion experiments in U-shaped route.
UR - http://www.scopus.com/inward/record.url?scp=77951475237&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77951475237&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420727
DO - 10.1109/ROBIO.2009.5420727
M3 - Conference contribution
AN - SCOPUS:77951475237
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 2320
EP - 2325
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -
