| Abstract: | The paper deals with active drive system for colonoscope. The system is mainly composed of soft mobile mechanism for earthworm locomotion and turning mechanism based on shape memory effect. The soft mobile mechanism contacts colon wall with airin inflatable balloons, so the robot has better soft and non invasive properties. The turning mechanism can be actively bent by shape memory alloy components. It ensures the colonoscope to adapt to the tortuous shape of colon. Some experiment results are given in the paper. |
