The development of a bendable colonoscopic tip

Thomann, F.; Bétemps, M.; Redarce, Tanneguy

doi:10.1109/robot.2003.1241669

Cited by 12 publications

(7 citation statements)

References 8 publications

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“…10. Most control methods for SPAs have been presented with the assumption that the elongation of the actuator is proportional to the input pressure [23]. However, soft materials, such as elastomer, have an instability when a threshold of the size of inflation is exceeded [24].…”

Section: Spa-skin Controlmentioning

confidence: 99%

Soft Pneumatic Actuator skin with embedded sensors

Suh

Margarit

Song

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive sensing by covering pre-existing structures and robots bodies. Having few limitation of the surface quality, dynamics, or shape, these mechanical attributes allow potential applications in autonomous flexible braille, active surface pattern reconfiguration, distributed actuation and sensing for tactile interface improvements. In this paper, the authors present a proof-of-concept SPA-skin. The mechanical parameters, design criteria, sensor selection, and actuator construction process are illustrated. Two control schemes, actuation mode and force sensing mode, are also demonstrated with the latest prototype.

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Section: Spa-skin Controlmentioning

confidence: 99%

Soft Pneumatic Actuator skin with embedded sensors

Suh

Margarit

Song

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Bellows-based flexible robots presented in [36,24] suppose that the length variation of each bellows is proportional to the applied pressure. In our case, the silicone-based actuator shows strong nonlinearity relating the stretch length of the chamber to the pressure variation in preliminary experiments.…”

Section: Characterization Of Pneumatic Actuatorsmentioning

confidence: 99%

Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy

Chen

Pham

Redarce

2009

Robotics and Autonomous Systems

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“…1-4244-0259-X/06/$20.00 C)2006 IEEE Our previous works focused on designing a bendable colonoscopic tip called EDORA [15] that can help the manual manipulation of a conventional tip. This semiautonomous configuration can facilitate the introduction of a colonoscope.…”

Section: Introductionmentioning

confidence: 99%

“…It can only have a bending angle of 230 at a maximum, which is not far enough to traverse the original colon bend in real operation. Furthermore, the diameter of EDORA is 26mm, which is more than the average diameter of colon 20mm [15]. Therefore some efforts are necessary to for the miniaturization of the bendable tip.…”

Section: Introductionmentioning

confidence: 99%

Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

Chen

Pham

Redarce

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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International audienceIn this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and biocompatibility. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20 mm). Three servo-valves are used to control the pressure of each chamber of this tip to obtain its flexible movement. The experimental results of this new prototype show that it can bend until 120 degrees under the pressure of 2 bar. Based on the geometric deformation and a nonlinear analysis of the silicone behavior, a direct kinematic model analogous to the forward kinematics of a conventional industrial robot kinematics chain has been put forward. The proposed kinematic model of this bendable tip is an extended model of classical models found for such a mechanism. At first a polynomial approximation is used to characterize the non linear behavior of each chamber of the actuator. Next the coupling phenomena between each chamber are highlighted through experimental tests. A new correction parameter is then proposed to take into account these interactions and a non linear optimization is made to compute this coefficient. Finally, the proposed kinematic model is experimentally validate

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The development of a bendable colonoscopic tip

Cited by 12 publications

References 8 publications

Soft Pneumatic Actuator skin with embedded sensors

Soft Pneumatic Actuator skin with embedded sensors

Sensor-based guidance control of a continuum robot for a semi-autonomous colonoscopy

Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

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