Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion

Ken Ozaki, Shuichi Wakimoto, Koichi Suzumori, Yohta Yamamoto

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

19 Citations (Scopus)

Abstract

Recently, colonoscopy has become much more important with increasing number of colonic diseases. However, the inspection time depends on the doctor's skill strongly. In this research, we aim at development of a tube type rubber pneumatic actuator for assisting insertion of a large intestine endoscope. This actuator can be wound around endoscopes in a spiral configuration. In previous paper, two types of actuator were developed and some experiments were conducted. However, there were drawbacks, one actuator could not generate enough output, and the other one was difficult to mount on endoscopes. In this paper, novel actuator has been designed by non-linear FEM (Finite Element Method) to realize high mountability and drivability. The actuator is configured with three air chambers, and by applying pneumatic pressure to each chamber in proper sequence, elliptical motion of the actuator has been confirmed by non-linear FEM analysis and experiments using motion capture system. Moreover the self propelling velocity and the traction force have been increased compared to previous actuators and effectiveness of this actuator has been confirmed from the phantom experiments.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3263-3268
Number of pages6
DOIs
Publication statusPublished - 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

Fingerprint

Rubber
Actuators
Endoscopy
Pneumatic actuators
Finite element method
Experiments
Pneumatics
Inspection
Air

ASJC Scopus subject areas

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

Cite this

Ozaki, K., Wakimoto, S., Suzumori, K., & Yamamoto, Y. (2011). Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3263-3268). [5979631] https://doi.org/10.1109/ICRA.2011.5979631

Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. / Ozaki, Ken; Wakimoto, Shuichi; Suzumori, Koichi; Yamamoto, Yohta.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3263-3268 5979631.

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

Ozaki, K, Wakimoto, S, Suzumori, K & Yamamoto, Y 2011, Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. in Proceedings - IEEE International Conference on Robotics and Automation., 5979631, pp. 3263-3268, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 5/9/11. https://doi.org/10.1109/ICRA.2011.5979631
Ozaki K, Wakimoto S, Suzumori K, Yamamoto Y. Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 3263-3268. 5979631 https://doi.org/10.1109/ICRA.2011.5979631
Ozaki, Ken ; Wakimoto, Shuichi ; Suzumori, Koichi ; Yamamoto, Yohta. / Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 3263-3268
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