大腸内視鏡検査の小型化と自動化の研究

抄録

In this study, we develop automatic and miniaturized large intestine endoscopy. Especially, we give attention to an automatic advancing mechanism for large intestine endoscopy. This delivery device is intended to reproduce an endoscope insertion method performed by a doctor and to insert an endoscope. As an action necessary for reproducing, it is necessary to move the endoscope linearly in the roll axis direction and rotate it in the roll axis direction. It is also necessary to perform this operation at the same time. Therefore, in this research we proposed a device that can perform these two operations. We also made suggestions such as equipment to assist the insertion of endoscopy.