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ID 48953
フルテキストURL
タイトル(別表記)
Design and Basic Characteristics of Pneumatic Rubber Tube Actuator for Colonoscope Insertion
著者
脇元 修一 岡山大学
尾崎 健 岡山大学
鈴森 康一 岡山大学
抄録
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.
キーワード
Soft Actuator
Colonoscope Robot
Soft Mechanism
発行日
2011-09-15
出版物タイトル
日本ロボット学会誌
29巻
7号
出版者
日本ロボット学会
開始ページ
619
終了ページ
625
ISSN
0289-1824
NCID
AN00141189
資料タイプ
学術雑誌論文
プロジェクト
異分野融合先端研究コア
オフィシャル URL
http://dx.doi.org/10.7210/jrsj.29.619
言語
Japanese
著作権者
Copyright © 2011 日本ロボット学会
論文のバージョン
publisher
査読
有り
DOI