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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机译:Kenzo Sassa: Volcanic Micro-Tremors and Eruption-Earthquakes(火山脉动及び爆发地震).Part 1 of the Geophysical Studies on the Volcano Aso. the Memoirs of the College of Science Kyoto Imperial University Series A vol. XVIII. No.5, 1935.