ICRA 2011 Paper Abstract


Paper WeA209.5

Ozaki, Ken (Okayama University), Wakimoto, Shuichi (Okayama University), Suzumori, Koichi (Okayama University), Yamamoto, Yohta (Okayama University)

Novel Design of Rubber Tube Actuator Improving Mountability and Drivability for Assisting Colonoscope Insertion

Scheduled for presentation during the Regular Sessions "Novel Actuators II" (WeA209), Wednesday, May 11, 2011, 11:05−11:20, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Soft Material Robotics, Hydraulic/Pneumatic Actuators


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.



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