The authors introduce a micro snake like robot system for celiac operation driven by the piezoelectric element based mini-displacement driver

which features small size

high precision displacement

prompt response and adequate output force. Every segment of the robot can rotate on 2-freedom direction in a range of ?60? freely and rapidly. Two essential questions in designing the system i.e.

the structure and moving mechanism of the piezoelectric element based mini-displacement driver; the structure of the special robot joint

are specified and discussed. Finally

the system simulation on computer is given.