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ID 48953
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Design and Basic Characteristics of Pneumatic Rubber Tube Actuator for Colonoscope Insertion
Author
Ozaki, Ken
Abstract
Colonoscopy is an important medical action to detect disorders like colon cancer. However generally it is difficult to insert a scope into the colon, because the colon is flexible and complex shape. This study aims at development of an actuator which can add propelling ability to a colonoscope. We focus on rubber pneumatic actuators, because advantages of them, for example, high compliance, low cost, water proof, and so on, agree with the required properties of medical devices. In this paper, we design a novel rubber actuator consisting of three air chambers by nonlinear FEM (finite element method) and fabricate the actuator employing the design by extrusion molding method. Basic characteristics of the actuator are clarified by a motion capture system, and functional motion leading assisting colonoscope insertion is observed. Actually using dummy endoscope, transportation ability by the actuators is confirmed experimentally and insertion experiments into a large intestine phantom are conducted.
Keywords
Soft Actuator
Colonoscope Robot
Soft Mechanism
Published Date
2011-09-15
Publication Title
日本ロボット学会誌
Volume
volume29
Issue
issue7
Publisher
日本ロボット学会
Start Page
619
End Page
625
ISSN
0289-1824
NCID
AN00141189
Content Type
Journal Article
Project
Research Core for Interdisciplinary Sciences
Official Url
http://dx.doi.org/10.7210/jrsj.29.619
language
日本語
Copyright Holders
Copyright © 2011 日本ロボット学会
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publisher
Refereed
True
DOI