| Electrical & Electronic Engineering |
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| Development of a non-cable whole tectorial membrane micro-robot for an endoscope |
| Dong-dong YE, Guo-zheng YAN, Kun-dong WANG, Guan-ying MA |
| Department of Instrument, Shanghai Jiao Tong University, Shanghai 200240, China |
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Abstract A novel non-cable whole tectorial membrane micro-robot for an endoscope is developed. The micro-robot we have fabricated and tested can propel itself in the intestine tract of a pig in an autonomous manner by earthworm-like locomotion. The silicone of bellow shape is laid over the outer surface of the micro-robot to reduce the affection of the viscoelastic properties of the intestine. Wireless power transfer and communication systems are employed to realize the non-cable locomotion of the micro-robot. The prototype of the micro-robot is 13.5 mm in diameter and 108 mm in length. The experimental results show that the towing force for the micro-robot is about 0.8 N, which is much smaller than the maximum driving force 2.55 N of the linear actuator. The supplying power of the wireless power transfer system fulfills the needs of the micro-robot system and the micro-robot can creep reliably in the large intestine of a pig and other contact environments.
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Received: 23 November 2007
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