양성욱 박기태 이승석 나경환 김진석 최종호 박석호 박종오 윤의성 2024-01-20T21:35:48Z 2024-01-20T21:35:48Z 2021-09-06 2009-03 1975-6291 https://pubs.kist.re.kr/handle/201004/132670 For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient’s discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts. English 한국로봇학회 캡슐형 내시경을 위한 체내 이동용 마이크로 로봇 Locomotive Microrobot for Capsule Endoscopes Article 2 로봇학회 논문지, v.4, no.1, pp.62 - 67 로봇학회 논문지 4 1 62 67 kci other ART001412402 Capsule Endoscope Locomotion Steering Module Camera Module Integration