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Input Signal Effects on the Locomotion of a Robotic Colonoscope Activated by a Flexible Shaft
조승건,이동규,박종오,박석호,김병규 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.3
Most robotic colonoscopes do not allow sufficient space for high capacity motors since their power sources are equipped in their bodies. Therefore, a robotic colonoscope activated by an external motor through a flexible shaft has been presented. Unfortunately, robot rotations resulting from excessive input torque are observed under some input voltage signals. These rotations occur when the load torque on the flexible shaft exceeds a critical torque value, which is the maximum torque satisfying the rigid body condition. The excessive-torque effect must be eliminated since each rotation causes a velocity reduction as well as twisting of the colon. Therefore, to suppress the rotation by reducing the load torque, the input and load torques are investigated in connection to the input signal. Conclusively, the maximum load torque of the triangular function is the smallest among the input signals and does not exceed the critical torque, which causes the rotation of the robot body. To verify the usefulness of the theoretical and experimental load torque results, in-vitro tests are performed in an acrylic pipe and excised colon for all input functions. As expected with the load torque results according to the input signal, the robot with the triangular function achieves the best performance regardless of experimental environment.
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김도원,이동규,조승건,이보인,김병규 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.11
Previously developed robotic colonoscopes have difficulties in performing diagnostic procedures since they should be performed byexperienced endoscopists to control the device efficiently. In the previous study, therefore, we presented a robotic colonoscope adoptingan electric motor in the body to rotate elastic caterpillars. However, the installed small motor, due to the limitation of the robot size, limitedvelocity and thrust force. In addition, the electrical short can occur when it is operated in the watery lumen of a pig colon. Therefore,in this paper, we present a robotic colonoscope based on elastic caterpillars which are activated by an external motor through a flexibleshaft. Since it uses a high power motor, it enables faster self-locomotion in the colon and to prevent short circuits. First of all, we investigatedthe velocity of the robot according to thrust force and torque from the flexible shaft generated by the motor which influences therobot performance. In preliminary tests, the robot performance was tested in various radii of the acrylic pipes and a latex tube. After obtainingpromising results in the artificial colon, we carried out the ex-vivo test by using an excised pig colon. Conclusively, the robotshowed the reliable locomotion performance of about 2.58 cm/s without causing any mucosal injury of the colon.
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