New pneumatic rubber actuators to assist colonoscope insertion

Koichi Suzumori, Takayuki Hama, Takefumi Kanda

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

27 Citations (Scopus)

Abstract

Inserting an endoscope into colon requires very technical procedure and it is difficult in some cases even for experienced doctors. Although active colonoscopes have been researched, these instruments are still in the development stage. Mechanisms for this application are required to be soft enough not to injure the colon wall and being deformable enough to adapt to the curves of the colon. In addition, the mechanisms must generate distributed force adequate for traveling. These requirements are difficult to be satisfied using conventional mechanisms and actuators. We have designed and developed two types of new driving mechanism using pneumatic rubber actuators and made their feasibility tests. One mechanism is "thin tube wave generator": introducing pulse pneumatic flows to a thin rubber tube causes traveling deformation waves on the tube surface, which drives an object placed on the tube. The other mechanism is "round bubbler": A rubber tube which has four chambers in it is wound around the colonoscope to cause traveling deformation waves on the scope surface by sending pneumatic pressures to each chamber sequentially. In this paper, first, we discuss the driving mechanisms, pneumatic control systems, and basic characteristics of these two mechanisms. Then, based on the basic experimental discussions, we fabricated special rubber mechanisms to fit around a conventional colonoscope, and conducted insertion experiments using an intestinum model and an existing colonoscope under various conditions. The experimental results are very promising.

Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1824-1829
Number of pages6
DOIs
Publication statusPublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

Keywords

  • Endoscope
  • Micromachine
  • Pneumatic actuator
  • Rubber actuator

ASJC Scopus subject areas

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

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  • Cite this

    Suzumori, K., Hama, T., & Kanda, T. (2006). New pneumatic rubber actuators to assist colonoscope insertion. In Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 1824-1829). [1641971] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1641971