1211 柔軟ラバーデバイスを用いた可変剛性型大腸内視鏡の開発 : 最適駆動パターンに関する実験的検討(次世代アクチュエータ,一般講演)

抄録

Recently, the need of colonoscopy is increasing because of the rise of colonic diseases including cancer of the colon. However, current colonoscopy depends on doctor's skill strongly. Therefore, a large intestine endoscope that can be inserted without any special techniques of doctors with high safety is required. In the previous research, the prototype changeable stiffness endoscope that changes own stiffness partially by air pressure was developed. However, we have never made a close investigation of the stiffness change pattern that can reduce load to the intestinal wall. In this report, an evaluation phantom which has sensors to measure load to the intestinal wall has been developed, in addition, the changeable stiffness endoscope has been improved. Using them, we have investigated the relation between stiffness change pattern and load to intestinal wall experimentally. From the experiments optimum stiffness change pattern to reduce the load in colonoscopy has been derived.