A miniature manipulator for integration in a self-propelling endoscope

This paper presents a miniature robotic manipulator for integration in a se lf-propelling endoscope. The endoscope is meant to inspect and intervene in the human colon through which it moves by inchworm motion. The manipulator is used to orient camera and tools and has two bending degrees of freedom (+/- 40 degrees). It consists of two modules driven by an electromagnetic m otor with worm gear reduction. Each module is 12.4 mm in diameter and 20 mm long. The total arm with integrated camera is 40 mm long. Also a miniaturi sed version has been built, having a diameter of 8.5 mm and one degree of f reedom. Size and performance are compared with previously developed prototy pes. (C) 2001 Elsevier Science B.V. All rights reserved.