A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot


This paper proposes an anchoring and extending micro intestinal robot for medical inspection and surgery propose. The three-leg anchoring method is discussed in detail, and micro robot phantom model is used to test anchoring related parameters for mechanical design. A prototype is designed and fabricated base on the experiment results and is tested in in-vitro experiment. The prototype is locomotive in a pig small intestine under a diameter limitation.

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W. Lin and G. Yan, "A Study on Anchoring Ability of Three-Leg Micro Intestinal Robot," Engineering, Vol. 4 No. 8, 2012, pp. 477-483. doi: 10.4236/eng.2012.48062.

Conflicts of Interest

The authors declare no conflicts of interest.


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