2A1-C10 体腔内移動用ロボットのための移動機構の検討(医療・福祉ロボティクス・メカトロニクス)

抄録

The goal of this study is to propose mechanisms of locomotion for micro robot moving in human coelom. In the previous paper, we proposed three types of mechanisms and evaluated their propulsion. In this paper, we focused on the liquid pressure type of mechanism among them, which is driven by a movement of a syringe and a piston. While that mechanism was driven manually in the previous paper, we realized an automatic operation using a D.C. motor in this paper. We measured propulsions of the mechanism and found that the propulsion of the automatic operation is lager than that of manual control. Then we investigated the effects of section shape on propulsion and found the best section shape.