Cited 0 time in webofscience Cited 0 time in scopus

Input Signal Effects on the Locomotion of a Robotic Colonoscope Activated by a Flexible Shaft

Title
Input Signal Effects on the Locomotion of a Robotic Colonoscope Activated by a Flexible Shaft
Authors
Joe, Seong GunLee, Dong KyuPark, Jong OhPark, Suk HoKim, Byung Gyu
DGIST Authors
Park, Suk Ho
Issue Date
2017-03
Citation
International Journal Of Precision Engineering And Manufacturing, 18(3), 461-465
Type
Article
Article Type
Article
Keywords
TRACT
ISSN
2234-7593
Abstract
Most robotic colonoscopes do not allow sufficient space for high capacity motors since their power sources are equipped in their bodies. Therefore, a robotic colonoscope activated by an external motor through a flexible shaft has been presented. Unfortunately, robot rotations resulting from excessive input torque are observed under some input voltage signals. These rotations occur when the load torque on the flexible shaft exceeds a critical torque value, which is the maximum torque satisfying the rigid body condition. The excessive-torque effect must be eliminated since each rotation causes a velocity reduction as well as twisting of the colon. Therefore, to suppress the rotation by reducing the load torque, the input and load torques are investigated in connection to the input signal. Conclusively, the maximum load torque of the triangular function is the smallest among the input signals and does not exceed the critical torque, which causes the rotation of the robot body. To verify the usefulness of the theoretical and experimental load torque results, in-vitro tests are performed in an acrylic pipe and excised colon for all input functions. As expected with the load torque results according to the input signal, the robot with the triangular function achieves the best performance regardless of experimental environment. © 2017, Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg.
URI
http://hdl.handle.net/20.500.11750/5656
DOI
10.1007/s12541-017-0055-y
Publisher
KOREAN SOC PRECISION ENG
Related Researcher
  • Author Park, Suk Ho Multiscale Biomedical Robotics Laboratory
  • Research Interests Biomedical Micro/Nano Robotics; Biomedical Devices and Instruments
Files:
There are no files associated with this item.
Collection:
Robotics EngineeringMultiscale Biomedical Robotics Laboratory1. Journal Articles


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE