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
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著者 |
尾崎 健
岡山大学
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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.
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キーワード | Soft Actuator
Colonoscope Robot
Soft Mechanism
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発行日 | 2011-09-15
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出版物タイトル |
日本ロボット学会誌
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巻 | 29巻
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号 | 7号
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出版者 | 日本ロボット学会
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開始ページ | 619
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終了ページ | 625
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ISSN | 0289-1824
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NCID | AN00141189
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資料タイプ |
学術雑誌論文
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プロジェクト |
異分野融合先端研究コア
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オフィシャル URL | http://dx.doi.org/10.7210/jrsj.29.619
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言語 |
日本語
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著作権者 | Copyright © 2011 日本ロボット学会
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論文のバージョン | publisher
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査読 |
有り
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DOI |