Abstract
Endoscopical tool to manipulate and peel tumor skin in ESD (Endoscopic Submucosal Dissection) is proposed. This microarm will come out from the tip of an endoscope to help the manipulation of the tumor skin. Inexpensive fabrication process is a must to make the tool disposable for sanitary reason. The arm is fabricated by photolithography and electroplating and assembled by stacking up the layer of electroplated parts (STAMP: Stacked Microassembly Process), thus mass-production with low cost is possible. The key element of this microarm is that it has a joint. Measuring the angle of the joint can calculate the tip position of the microarm, thus being able to control the arm. An angle sensor will be placed in the future. The actuation of the arm is done by guide wire.
