Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP)

Keisuke Narumi; Daisaku Azuma; Fumihito Arai

doi:10.20965/jrm.2009.p0412

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JRM Vol.21 No.3 pp. 412-418

doi: 10.20965/jrm.2009.p0412

(2009)

Paper:

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Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP)

Keisuke Narumi, Daisaku Azuma, and Fumihito Arai

Department of Bioengineering and Robotics, Tohoku University
6-6-01 Aramaki-Aoba, Aoba-ku, Sendai 980-8579, Japan

Received:

November 2, 2008

Accepted:

April 27, 2009

Published:

June 20, 2009

Keywords:

photolithography, micro-assembly, endoscopy, microarm, microgripper

Abstract

Recently it is expected to develop endoscopic tools to grip and lift a target tumor in Endoscopic Submucosal Dissection (ESD). We proposed a new ESD surgery concept in which two wire-driven microarms (1.8 × 1.8 × 22 mm) from the tip of endoscope help lift the tumor to cut. This paper emphasizes a new fabrication method of arm which is fabricated by Stacked Microassembly Process (STAMP). STAMP is a fabrication method of three-dimensional structure by stacking up two-dimensional sheet layers. Generically it is difficult to build a micro-order three-dimensional structure, but we overcame this problem by this method. The microarm was composed of five layers which were fabricated separately using photolithography and electroplating. In the end, individual layers were assembled together and fixed. The microarm used the elastic deformation of metal to bend (Cu or Phosphor Bronze). A strain gauge was attached to the elastic joint as an angle sensor. We calibrated the relation between the angle and output of the strain gauge using image processing program. As the relation was good linearity (R² = 0.9933), we constructed PID feedback control system. Finally, we fabricated a gripper which loaded into the tip of the microarm. The gripper could lift up a piece of meat (2 g).

Cite this article as:

K. Narumi, D. Azuma, and F. Arai, “Fabrication of Articulated Microarm for Endoscopy by Stacked Microassembly Process (STAMP),” J. Robot. Mechatron., Vol.21 No.3, pp. 412-418, 2009.

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References

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[20] K. Ikuta, T. Kato, and S. Nagata, “Micro active forceps with optical fiber scope for intra-ocular microsurgery,” Proc. of Micro Electro Mechanical Systems, pp. 456-461, 1996.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Health, Labour and Welfare ministry, Japan, http://www.mhlw.go.jp/toukei/saikin/hw/jinkou/geppo/nengai04/toukei5.html

[2] [2] R. H. Taylor and D. Stoianovici, “Medical Robotics in Computer-Integrated Sugery,” Proc. of IEEE Trans. on Robotics and Automation, Vol.19, pp. 795-781, 2003.

[3] [3] F. Cepolina and M. C. michelini, “Robots in medicine: a survey of in-body nursing aids, Introductory overview and concept design hints,” 35^th Int. Symposium on robotics, 2004.

[4] [4] N. Yasaku, “Endoscopic submucosal dissection: ESD, Clinician,” No.535, pp. 78-85, 2004.

[5] [5] Y. Kitagawa, S. Kitano, T. Kubota, K. Kumai, Y. Otani, Y. saikawa, M. Yoshida, and M. Kitajima, “Minimally invasive surgey for gastric cancer – toward a confluence of two major streams: a review,” Gastric Cancer, Vol.8, No.2, 2005.

[6] [6] S. J. Winawer, A. G. Zauber, M. N. Ho, M. J. O'Brien, L. S. Gottlieb, S. S. Sternberg, J. D. Waye, M. Schapiro, J. H. Bond, J. F. Panish, F. Ackroyd, M. Shike, R. C. Kurtz, L. Hornsby-Lewis, H. Gerdes, and E. T. Stewart, “Prevention of Colorectal Cancer by Colonoscopic Polypectomy,” New England J. of Med., Vol.329, pp. 1977-1981, 1993.

[7] [7] H. Ono, H. Kondo, T. Gotoda, K. Shirao, H. Yamaguchi, D. Saito, K. Hosokawa, T. Shimoda, S. Yoshida, “Endoscopic mucosal resection for treatment of early gastric cancer,” Gut, Vol.48, pp. 225-229, 2001.

[8] [8] S. Minami, T. Gotoda, H. Ono, I. Oda, and H. Hamanaka, “Complete endoscopic closure of gastric perforation induced by endoscopic resection of early gastric cancer using endoclips can prevent surgery,” Gastrointestinal Endoscopy, Vol.63 , Issue 4 , pp. 596-601, 2006.

[9] [9] Y. Saito, et al., “A new sinker-assisted endoscopic submucosal dissection for colorectal cancer,” Gastrointestinal Endoscopy, Vol.62, pp. 297-301, 2005.

[10] [10] T. Kobayashi, et al, “Magnetic Anchor for More Effective Endoscopic Mucosal Resection,” Jpn. J. Clin. Oncol., Vol.34, pp. 118-123, 2004.

[11] [11] N. Sakamoto, T. Osada, T. Shibuya, K. Beppu, K. Matsumoto, Y. Shimada, A. Konno, A. Kurosawa, A. Nagahara, T. Ohkusa, T. Ogihara, and S. Watanabe, “The facilitation of a new traction device (S-O clip) assisting endoscopic submucosal dissection for superficial colorectal neoplasms, Endoscopy,” Vol.40, pp. 94-95, 2008.

[12] [12] H. Kondo, T. Gotoda, H. Ono, I. Oda, T. Kozu, M. Fujishiro, D. Saito, and S. Yoshida, “Percutaneous traction-assisted EMR by using an insulation-tipped electrosurgical knife for early stage gastric cancer,” Gastrointestinal Endoscopy, Vol.59, No.2, pp. 284-288, 2004.

[13] [13] T. Fukuda, S. Guo, K. Kosuge, F. Arai, M. Negoro, and K. Nakabayashi, “Micro Active Catheter System with Multi Degrees of Freedom,” Proc. IEEE Int. Conf. on Robotic and Automation, pp. 2290-2295, 1994.

[14] [14] S. Guo, T. Fukuda, K. Kosuge, F. Arai, K. Oguro, and M. Negoro, “Micro Catheter System with Active Guide Wire,” IEEE Int. Conf. on Robotics and Automation, 1995.

[15] [15] F. Arai, D. Azuma, K. Narumi, Y. Yamanishi, and Y. C. Ling, “Design and fabrication of a shape memory alloy actuated exoskeletal microarm,” Proc. 2007 Int. Symp. on Micro-Nano Mechatronics and Human Science, Nagoya, pp. 339-343, 2007.

[16] [16] D. S. Kwon, K. Y. Woo, S. K. Song, W. S. Kim, and H. S. Cho, “Microsurgical Telerobot System,” Proc. IEEE Int. Conf. on Intelligent Robots and Systems, Vol.2, pp. 945-950, 1998.

[17] [17] H. Van Brussel, J. Peirs, D. Reynaerts, A. Delchambre, G. Reinhart, N. Roth, M. Weck, and E. Zussman, “Assembly of Microsystems,” CIRP Annals - Manufacturing Technology, Vol.49, Issue 2, pp. 451-472, 2000.

[18] [18] M. J. Madou, “Fundamentals of Microfabrication: The Science of Miniaturization Second Edition,” CRC, 2002.

[19] [19] I. Roch, Ph. Bidau, D. Collard, and L. Buchaillot, “Fabrication and characterization of an SU-8 gripper actuated by a shape memory alloy thin film,” J. Micromech. Microeng., Vol.13, pp. 330-336, 2003.

[20] [20] K. Ikuta, T. Kato, and S. Nagata, “Micro active forceps with optical fiber scope for intra-ocular microsurgery,” Proc. of Micro Electro Mechanical Systems, pp. 456-461, 1996.