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| Endoscopic Robot Based on Friction Control in Intestinal Tract |
| GAO Peng-1, 2 , YAN Guo-Zheng-1 |
| （1. School of Electronic, Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200240, China; 2. Aerospace System Engineering Shanghai, Shanghai 201108, China） |
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Abstract To improve the diagnosis ability of intestinal diseases, a colonic micro-robot was proposed, based on friction control. The friction model analyzed the factors of the intestinal friction control. Under the use of custom-built templates and adhesive polymers, some experiments on the in vitro intestinal surface investigated the influences of contact pattern and contact viscosity. Considering the frictional factors and the applied environment, a friction contact device was designed for the endoscopic robot to realize the frictional locomotion. The experimental results show that the robotic prototype can adapt the serious environments to realize the active locomotion, and the locomotion environments may also produce different influences on its active locomotion speed.
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Received: 12 January 2012
Published: 30 November 2012
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