title: [A novel miniature robotic endoscope design for intestinal inspection].
abstract: This paper makes a comparison between the traditional endoscope system and the active robotic endoscope system, discusses the human intestine-working conditions of the robotic endoscope system in detail and its design requirements. An active robotic endoscope system based on earthworn-locomotion principles is proposed here and besides, its structure and locomotion mechanism are analyzed. A new method of human intestinal intervention is brought out and it can prevent the robotic endoscope guided by a cone-shaped guide pipe from being jammed or damaged.
authors.affiliation: Institute of Precise Engineering and Intelligent Microsystem, Shanghai Jiaotong University.
authors.forename: Dong-xiang
authors.initials: DX
authors.lastname: Chi
authors.forename: Guo-zheng
authors.initials: GZ
authors.lastname: Yan
authors.forename: Liang-ming
authors.initials: LM
authors.lastname: Lin
mesh_terms: D032701:Biomimetics / Q000295:instrumentation; D020776:Endoscopes, Gastrointestinal; D016099:Endoscopy, Gastrointestinal / Q000379:methods*; D004867:Equipment Design; D006801:Humans; D007410:Intestinal Diseases / Q000175:diagnosis*; D008904:Miniaturization; D012371:Robotics / Q000295:instrumentation