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A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot
The Institute of Medical Precision Engineering and Intelligent System, Shanghai Jiao Tong University, Shanghai, China
The Institute of Medical Precision Engineering and Intelligent System, Shanghai Jiao Tong University, Shanghai, China
- 1 The Institute of Medical Precision Engineering and Intelligent System, Shanghai Jiao Tong University, Shanghai, China
- 2 The Institute of Medical Precision Engineering and Intelligent System, Shanghai Jiao Tong University, Shanghai, China
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Abstract
This paper proposes an anchoring and extending micro intestinal robot for medical inspection and surgery propose. The three-leg anchoring method is discussed in detail, and micro robot phantom model is used to test anchoring related parameters for mechanical design. A prototype is designed and fabricated base on the experiment results and is tested in in-vitro experiment. The prototype is locomotive in a pig small intestine under a diameter limitation.
KeywordsIntestinal TractMicro RobotAnchoring Extending
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