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 language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3263-3268 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |
| Event | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: May 9 2011 → May 13 2011 |
Other
| Other | 2011 IEEE International Conference on Robotics and Automation, ICRA 2011 |
|---|---|
| Country | China |
| City | Shanghai |
| Period | 5/9/11 → 5/13/11 |
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ASJC Scopus subject areas
- Software
- Artificial Intelligence
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Novel design of rubber tube actuator improving mountability and drivability for assisting colonosocope insertion
AU - Ozaki, Ken
AU - Wakimoto, Shuichi
AU - Suzumori, Koichi
AU - Yamamoto, Yohta
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=80053496276&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2011.5979631
DO - 10.1109/ICRA.2011.5979631
M3 - Conference contribution
AN - SCOPUS:80053496276
SN - 9781612843865
SP - 3263
EP - 3268
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -