Development of a robotic endoscope that locomotes in the colon with flexible helical fins

M. Shikanai, N. Murai, K. Itoh, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, M. Hasizume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

The purpose of this study was to develop a robotic endoscope that is low invasive, easy to operate and capable of locomotion from the rectum to the appendix in the human body. We believe that it would contribute to relieving pain in patients. We therefore developed a robotic endoscope that consists of a front and rear body with clockwise and anticlockwise helical fins, respectively. The front and rear bodies are connected via a DC motor. This robot moves forward in the colon by rotating the front body in the clockwise direction and the rear body in the anticlockwise direction. In addition, the radius of each helical fin can be changed by blowing air into a balloon implemented under each fin using an air compressor. Before experiments with animals, we performed experiments to evaluate the mechanical performance and safety of the robot. We confirmed that the maximum radius of the fins was less than the maximum radius of the colon by blowing air continuously into the balloons. We then confirmed that the robot can locomote in the colon without invasion of scratch and make short hole by performing an in-vivo experiment in live swine.

Original languageEnglish
Title of host publicationProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
Subtitle of host publicationEngineering the Future of Biomedicine, EMBC 2009
PublisherIEEE Computer Society
Pages5126-5129
Number of pages4
ISBN (Print)9781424432967
DOIs
Publication statusPublished - Jan 1 2009
Event31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN, United States
Duration: Sep 2 2009Sep 6 2009

Publication series

NameProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009

Other

Other31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
CountryUnited States
CityMinneapolis, MN
Period9/2/099/6/09

Fingerprint

Endoscopy
Endoscopes
Robotics
Colon
Balloons
Air
Robots
Blow molding
DC motors
Experiments
Appendix
Locomotion
Human Body
Rectum
Compressors
Animals
Swine
Safety
Pain
Direction compound

All Science Journal Classification (ASJC) codes

  • Cell Biology
  • Developmental Biology
  • Biomedical Engineering
  • Medicine(all)

Cite this

Shikanai, M., Murai, N., Itoh, K., Ishii, H., Takanishi, A., Tanoue, K., ... Hasizume, M. (2009). Development of a robotic endoscope that locomotes in the colon with flexible helical fins. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 (pp. 5126-5129). [5334579] (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009). IEEE Computer Society. https://doi.org/10.1109/IEMBS.2009.5334579

Development of a robotic endoscope that locomotes in the colon with flexible helical fins. / Shikanai, M.; Murai, N.; Itoh, K.; Ishii, H.; Takanishi, A.; Tanoue, K.; Ieiri, S.; Konishi, K.; Hasizume, M.

Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society, 2009. p. 5126-5129 5334579 (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Shikanai, M, Murai, N, Itoh, K, Ishii, H, Takanishi, A, Tanoue, K, Ieiri, S, Konishi, K & Hasizume, M 2009, Development of a robotic endoscope that locomotes in the colon with flexible helical fins. in Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009., 5334579, Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, IEEE Computer Society, pp. 5126-5129, 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, Minneapolis, MN, United States, 9/2/09. https://doi.org/10.1109/IEMBS.2009.5334579
Shikanai M, Murai N, Itoh K, Ishii H, Takanishi A, Tanoue K et al. Development of a robotic endoscope that locomotes in the colon with flexible helical fins. In Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society. 2009. p. 5126-5129. 5334579. (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009). https://doi.org/10.1109/IEMBS.2009.5334579
Shikanai, M. ; Murai, N. ; Itoh, K. ; Ishii, H. ; Takanishi, A. ; Tanoue, K. ; Ieiri, S. ; Konishi, K. ; Hasizume, M. / Development of a robotic endoscope that locomotes in the colon with flexible helical fins. Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009. IEEE Computer Society, 2009. pp. 5126-5129 (Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009).
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