大腸内視鏡検査の自動化装置の小型化に関する研究

抄録

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.