Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion

Shuichi Wakimoto, Koichi Suzumori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

Colonoscopy is an important medical action to detect disorders like colon cancer. However generally it is difficult to insert a scope into the colon, because the colon is flexible and complex shape. This study aims at development of an actuator which can add propelling ability to a colonoscope. We focused on rubber pneumatic actuators, because advantages of them, for example, high compliance, low cost, water proof, and so on, agree with the required properties of medical devices. In previous paper, we designed a novel rubber actuator consisting multi air chambers by using nonlinear FEM (finite element method). In this research, we fabricated the actuator employing the design; whose cross section is about 5mm x 5mm and length is over 100m, by extrusion molding method successfully. The deformation characteristics of the actuator were clarified by a motion capture system. As a result, elliptic trajectory which leads propelling motion was confirmed. In addition, transportation of a dummy scope was achieved by winding two actuators.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages3260-3265
Number of pages6
DOIs
Publication statusPublished - Aug 26 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Wakimoto, S., & Suzumori, K. (2010). Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 3260-3265). [5509633] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2010.5509633