円筒形状物の送り出し装置の小型化についての研究

―装置システムにおける解析―

抄録

The colonoscopy depends on the skill of the physician due to the risk of intestinal perforation etc. This research solves this problem by automating the colonoscopy feeding device. Especially with regard to the mechanism that feeds the endoscope, the pyhisician's subtle movements must be reproduced, In this research, the mechanism development from a robotics perspective is necessary. In this research, the medical care and maintainability in remote areas are taken into consideration, we are considering developing a small, lightweight and simple system. In this report, we propose a unique feeding system using a mecanum wheel and report on the mechanical analysis of the system.