Actuator for endoscope-connected microrobot driven by compressed gas

With the aim of reducing the mental and physical burden on physicians and patients in endoscopic treatment, an endoscope-connected microrobot actuator and a self-propelled wheeled microrobot that uses Reuleaux triangle as the wheel shape is described for the use of medical carbon dioxide gas. A turbine-type actuator measuring 5.17 mm (long) × 5.13 mm (wide) × 1.96 mm (thick) with a mass of 0.15 g showed rotational speeds of 26,784 rpm, 56,250 rpm, and 57,690 rpm at pressures of 0.1 MPa, 0.2 MPa, and 0.3 MPa and a flow rate of 1.0 L/min, respectively. The dimensions of the traveling microrobot with wheels attached to the actuator were 7.59 mm (length) × 6.49 mm (width) × 7.59 mm (height) (excluding the brass tube) with a mass of 0.25 g. The robot ran at 73 mm/s at a flow rate of 1.0 L/min at 0.3 MPa and at 56 mm/s at a flow rate of 0.9 L/min. The results confirmed that the flow rate of the material was 0.9 L/min at a pressure of 0.3 MPa.