Inchworm-Like Colonoscopic Robot with Hollow Body and Steering Device

Kim, Byung Kyu; Lim, Hun Young; Park, Jong Hyeon; Park, Jong-Oh

doi:10.1299/jsmec.49.205

Cited by 41 publications

(18 citation statements)

References 10 publications

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“…Understanding this locomotion mechanism has been a subject of interest to biologists and biophysicists for over a century. The prospect of novel robotic designs that mimic this adhesive locomotion (Chan et al, 2007;Kim et al, 2006) has renewed interest in the subject among engineers and physicists. Although physical observations and physiological knowledge exist regarding terrestrial gastropod locomotion, the mechanics of pedal waves and their contribution to the generation of the propulsive forces remain unclear.…”

Section: Introductionmentioning

confidence: 99%

The mechanics of the adhesive locomotion of terrestrial gastropods

Lai

Álamo

Rodríguez-Rodríguez

et al. 2010

Journal of Experimental Biology

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SUMMARYResearch on the adhesive locomotion of terrestrial gastropods is gaining renewed interest as it provides a source of guidance for the design of soft biomimetic robots that can perform functions currently not achievable by conventional rigid vehicles. The locomotion of terrestrial gastropods is driven by a train of periodic muscle contractions (pedal waves) and relaxations (interwaves) that propagate from their tails to their heads. These ventral waves interact with a thin layer of mucus secreted by the animal that transmits propulsive forces to the ground. The exact mechanism by which these propulsive forces are generated is still a matter of controversy. Specifically, the exact role played by the complex rheological and adhesive properties of the mucus is not clear. To provide quantitative data that could shed light on this question, we use a newly developed technique to measure, with high temporal and spatial resolution, the propulsive forces that terrestrial gastropods generate while crawling on smooth flat surfaces. The traction force measurements demonstrate the importance of the finite yield stress of the mucus in generating thrust and are consistent with the surface of the ventral foot being lifted with the passage of each pedal wave. We also show that a forward propulsive force is generated beneath each stationary interwave and that this net forward component is balanced by the resistance caused by the outer rim of the ventral foot, which slides at the speed of the center of mass of the animal. Simultaneously, the animal pulls the rim laterally inward. Analysis of the traction forces reveals that the kinematics of the pedal waves is far more complex than previously thought, showing significant spatial variation (acceleration/deceleration) as the waves move from the tail to the head of the animal. Supplementary material available online at

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Section: Introductionmentioning

confidence: 99%

The mechanics of the adhesive locomotion of terrestrial gastropods

Lai

Álamo

Rodríguez-Rodríguez

et al. 2010

Journal of Experimental Biology

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“…In former studies, locomotive systems utilizing the friction between the robot and inner wall of the digestive organ have been developed (1)(2)(3)(4)(5)(6)(7)(8)(9). These systems are efficient when the diameter of the locomotive system is larger than that of the digestive tract.…”

Section: Discussionmentioning

confidence: 99%

“…Several studies have examined propulsion systems for capsule endoscopes (1)(2)(3)(4)(5)(6)(7)(8)(9). A locomotive system mimicking earthworms and inchworms, which utilizes the friction between the robot and inner wall of the digestive organ, has been developed by some researchers.…”

Section: Introductionmentioning

confidence: 99%

Development of a biologically inspired locomotion system for a capsule endoscope

Hosokawa

Ishikawa

Morikawa

et al. 2009

Robotics Computer Surgery

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“…This device allows a 90 o bending in three directions. These flexible steering tips are the only parts of the whole self-propelling robots, however those works did not focus on how to control this special robot to endow it with a capability for autonomous guidance Kim et al (2006); Kumar et al (2000); Menciassi et al (2002); Piers et al (2003). Since 2001, there is another method to perform colon diagnostics: capsule endoscopy (n.d.a;n).…”

Section: State Of the Art: Robotic Colonoscopymentioning

confidence: 99%

A Biomimetic steering robot for Minimally invasive surgery application

Chen¹,

Pham²,

Maalej³

et al. 2010

Advances in Robot Manipulators

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Minimally Invasive Surgery represents the future of many types of medical interventions such as keyhole neurosurgey or transluminal endoscopic surgery. These procedures involve insertion of surgical instruments such as needles and endoscopes into human body through small incision/ body cavity for biopsy and drug delivery. However, nearly all surgical instruments for these procedures are inserted manually and there is a long learning curve for surgeons to use them properly. Many research efforts have been made to design active instruments (endoscope, needles) to improve this procedure during last decades. New robot mechanisms have been designed and used to improve the dexterity of current endoscope. Usually these robots are flexible and can pass the constrained space for fine manipulations. In recent years, a continuum robotic mechanism has been investigated and designed for medical surgery. Those robots are characterized by the fact that their mechanical components do not have rigid links and discrete joints in contrast with traditional robot manipulators. The design of these robots is inspired by movements of animals' parts such as tongues, elephant trunks and tentacles. The unusual compliance and redundant degrees of freedom of these robots provide strong potential to achieve delicate tasks successfully even in cluttered and unstructured environments. This chapter will present a complete application of a continuum robot for Minimally Invasive Surgery of colonoscopy. This system is composed of a micro-robotic tip, a set of position sensors and a real-time control system for guiding the exploration of colon. Details will be described on the modeling of the used pneumatic actuators, the design of the mechanical component, the kinematic model analysis and the control strategy for automatically guiding the progression of the device inside the human colon. Experimental results will be presented to check the performances of the whole system within a transparent tube.

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Inchworm-Like Colonoscopic Robot with Hollow Body and Steering Device

Cited by 41 publications

References 10 publications

The mechanics of the adhesive locomotion of terrestrial gastropods

The mechanics of the adhesive locomotion of terrestrial gastropods

Development of a biologically inspired locomotion system for a capsule endoscope

A Biomimetic steering robot for Minimally invasive surgery application

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