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 publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3260-3265
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

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

Fingerprint

Pneumatics
Rubber
Actuators
Fabrication
Experiments
Extrusion molding
Pneumatic actuators
Trajectories
Finite element method
Air
Costs
Water

ASJC Scopus subject areas

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

Cite this

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

Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion. / Wakimoto, Shuichi; Suzumori, Koichi.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 3260-3265 5509633.

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

Wakimoto, S & Suzumori, K 2010, Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion. in Proceedings - IEEE International Conference on Robotics and Automation., 5509633, pp. 3260-3265, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509633
Wakimoto S, Suzumori K. Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 3260-3265. 5509633 https://doi.org/10.1109/ROBOT.2010.5509633
Wakimoto, Shuichi ; Suzumori, Koichi. / Fabrication and basic experiments of pneumatic multi-chamber rubber tube actuator for assisting colonoscope insertion. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 3260-3265
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