Optimum design of pneumatic multi-chamber rubber tube actuator generating traveling deformation waves for colonoscope insertion

Hisakazu Onoe, Koichi Suzumori, Shuichi Wakimoto

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

9 Citations (Scopus)

Abstract

A pneumatic multi-chamber rubber tube actuator was designed, fabricated, and tested. Applying pneumatic pressure to each chamber sequentially causes periodical motions of the rubber tube surface tracing a polygon shape. By winding a pair of the tube actuators in parallel spirally around a colonoscope, they generate deformation waves around the colonoscope traveling along its axis, cause the locomotion force, and work to assist colonoscope insertion to large intestine. The basic idea and structure of the actuator and the experimental results showing their potential as a linear actuator assisting colonoscope insertion were reported in the previous paper. However, improvements of actuator designs in detail are still necessary to increase their locomotion ability. In this report, after surveys and evaluation of several types of this rubber tube designs, optimizing designs were made. The evaluation and designs are made based on non-linear FEM analysis. We successfully obtained an optimized actuator design which generates the motion 15.5 times larger than that of the actuator reported in previous report. The prototype shows good performances.

Original languageEnglish
Title of host publicationProceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
Pages31-36
Number of pages6
DOIs
Publication statusPublished - Sep 30 2008
Event2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 - Xi'an, China
Duration: Aug 2 2008Aug 5 2008

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008
CountryChina
CityXi'an
Period8/2/088/5/08

Keywords

  • Finite element method
  • Linear actuator assisting colonoscope insertion
  • Pneumatic

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Optimum design of pneumatic multi-chamber rubber tube actuator generating traveling deformation waves for colonoscope insertion'. Together they form a unique fingerprint.

  • Cite this

    Onoe, H., Suzumori, K., & Wakimoto, S. (2008). Optimum design of pneumatic multi-chamber rubber tube actuator generating traveling deformation waves for colonoscope insertion. In Proceedings of the 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2008 (pp. 31-36). [4601630] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2008.4601630