Study on miniaturization of automated equipment for large intestine endoscope

Abstract

In this study, we aim to miniaturize and automate 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 using the Mechanum wheel, we made a device that can perform these two operations.