지창열 윤석진 박장현 박석호 김병규 2024-01-21T03:42:06Z 2024-01-21T03:42:06Z 2021-09-06 2006-01 1226-4873 https://pubs.kist.re.kr/handle/201004/135835 A wireless capsule endoscope has been developed to replace the conventional endoscope. However, the commercialized capsule endoscope moves passively by peristaltic waves, which has some limitations for doctors to diagnose more thoroughly and actively. In order to solve this problem, a locomotive mechanism is proposed for wireless capsule endoscopes. Based on the tests of various actuators, a piezo actuator is selected as a micro actuator for capsule endoscope. In general, piezo actuators are known to have limited displacement with high voltage supply. In order to overcome the limitation of common piezo actuator, the impact based piezo actuator, is developed to realize long stroke up 11mm. By using the impact based piezo actuator, a prototype of an earthworm-like locomotive mechanism was developed. In addition, the proposed locomotive mechanism has engraved clamps mimicked the claw of an insect. The earthworm-like locomotive mechanism has 15 mm in diameter and 30mm under retraction stage and 41 mm under elongation stage in total length. Hollow space is allocated to comprise essential endoscope components such as a camera, a communication module, bio sensors, and a battery. For the feasibility test of proposed locomotive mechanism, a series of experiments were carried out including in-vitro tests. Based on results of the experiments, we conclude that the proposed locomotive mechanism is effective to be used for micro capsule endoscopes. 대한기계학회 PZT 구동기를 이용한 지렁이 이동방식의 캡슐형 내시경용 마이크로 로봇 An Earthworm-Like Locomotive Mechanism for Capsule Endoscopes Using PZT Actuator Article 2 대한기계학회논문집 A, v.30, no.1, pp.84 - 89 대한기계학회논문집 A 30 1 84 89 kci ART000982030 Capsule Endoscope(캡슐형내시경) Earthworm-Like Locomotive Mechanism(지렁이모사 이동 메카니즘) Impact Based Piezo Actuator(임팩트 방식의 압전 구동기)