Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot

Takaichi Yanagida; Kazunori Adachi; Taro Nakamura

doi:10.20965/jrm.2013.p0748

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JRM Vol.25 No.4 pp. 748-754

doi: 10.20965/jrm.2013.p0748

(2013)

Paper:

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Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot

Takaichi Yanagida, Kazunori Adachi, and Taro Nakamura

Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan

Received:

October 19, 2012

Accepted:

June 11, 2013

Published:

August 20, 2013

Keywords:

endoscopic robot, peristaltic crawling, pneumatic artificial muscle, biomimetic robot

Abstract

This paper describes the development of bellows-type artificial rubber muscle and a peristaltic crawling robot attached to a large intestine endoscope using the artificialmuscle. Colorectal cancers can be cured completely if they are discovered early with a large intestine endoscope. While the endoscope can be used to screen and heal this cancer, its operation is difficult. In this study, to solve the difficulties, we propose a peristaltic crawling robot to subserve the endoscope. This robot can automatically move forward and pull up slacks. In addition, this robot can traverse bent pipes such as a splenic flexure because of bellows-type artificial muscle. Unlike other endoscopic robots, our robot can be attached to an endoscope, enabling us to benefit from the endoscope’s various functions. In this paper, we fabricated a bellows-type artificial muscle that enables the robot to pass through splenic flexures and apply the bellows-type artificial muscle to the robot. In addition we executed performance experiment in a bent pipe and experiment in large intestine.

Cite this article as:

T. Yanagida, K. Adachi, and T. Nakamura, “Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot,” J. Robot. Mechatron., Vol.25 No.4, pp. 748-754, 2013.

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References

[1] A. Jemal, F. Bray, M. Melissa, J. Ferlay E. Ward, and D. Forman, “Global cancer statistics,” CA Cancer J. Clin., Vol.61, pp. 69-90, 2011.
[2] Foundation for Promotion of Center Research, “Statistics of cancer in 2007,” 2007.
[3] N. Saga and T. Nakamura, “Elucidation of propulsive force of micro-robot using magnetic fluid,” J. of Applied Physics, Vol.91, No.10, parts 2 and 3, pp. 7003-7005, 2002.
[4] N. Saga and T. Nakamura, “A prototype of peristaltic robot using pneumatic artificial muscle,” Intelligent automation system, No.8, pp. 85-95, 2004.
[5] N. Saga and T. Nakamura, “Development of peristaltic-crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm,” Smart Material and Structure, Vol.13, No.3, pp. 85-95, 2004.
[6] T. Nakamura, T. Kato, T. Iwanaga, and Y. Muranaka, “Development of a peristaltic crawling robot using servomotors based on the locomotion mechanism of earthworms,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 4342-4344, 2006.
[7] T. Nakamura, T. Kato, T. Iwanaga, and Y. Muranaka, “Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion,” J. of Robotics and Mechatronics, Vol.18, No.3, pp. 299-304, 2006.
[8] Y. Hidaka, M. Yokojima, and T. Nakamura, “Peristaltic Crawling Robot with Artificial Rubber Muscles Attached to Large Intestine Endoscope,” Proc. of 1st Int. Conf. on Applied Bionics and Biomechanics (ICABB 2010), October 2010.
[9] E. V. Mangan, D. A. Kingsley, R. D. Quinn, and H. J. Chiel, “Development of a Peristaltic Endoscope,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2002), pp. 347-352, 2002.
[10] G. Yan and K. Wang, “A Wireless Robot for Gastrointestine,” Proc. of IEEE Trans. on Robotic, Vol.24, No.1, pp. 206-210, February 2008.
[11] A. B. Slatkin, J. Burdick, and W. Grundfest, “The Development of a Robotic Endoscope,” Proc. of IEEE Int. Conf. on Intelligent Robot and Systems (IROS 1995), pp. 162-171, 1995.
[12] M. Shinkai, N. Murai, K. Itoh, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, and M. Hasizume, “Development of a robotic endoscope that locomotes in the colon with flexible helical fins,” 31st Annual Int. Conf. of the IEEE EMBS, pp. 5126-5129, September 2009.
[13] S.Wakimoto and K. Suzumori, “Fabrication and Basic Experiments of Pneumatic Multi-chamber Rubber Tube Actuator for Assisting Colonoscope Insertion,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2010), pp. 3260-3265, May 2010.
[14] P. Valdastri, R. J.Webster, III, C. Quaglia, M. Quirini, A.Menciassi, and P. Dario, “A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments,” IEEE Trans. on Robotics, Vol.25, No.5, pp. 1047-1057, October 2009.
[15] H. Yamamoto, Y. Sekine, Y. Sato, T. Higashizawa, T. Miyata, S. Iino, K. Ido, and K. Sugano, “Total Enteroscopy with a Nonsurgical Steerable Double- Balloon Method,” Gastrointestinal Endoscopy, Vol.53, No.2, pp. 216-220, 2001.
[16] Y. Ueda, “Micromachine: Possibility of Capsule Endoscope and Pancreatic Endoscope,” Clinical digestive tract internal medicine, Vol.12, No.7, pp. 1059-1064, 1997.
[17] H. Sugi, “Evolution of muscle motion,” The University of Tokyo Press, p. 72, 1977 (in Japanese).
[18] T. Nakamura and H. Shinohara, “Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2007), pp. 4361-4366, 2007.
[19] T. Nakamura, N. Saga, and K. Yaegashi, “Development of Pneumatic Artificial Muscle Based on Biomechanical Characteristics,” Proc. of IEEE Int. Conf. on Industrial Technology (ICIT 2003), pp. 729-734, 2003.
[20] K. Adachi, M. Yokojima, Y. Hidaka, and T. Nakamura, “Development of endoscopic robot and experiment in the large intestine of dead swine,” 2011 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp. 467-472, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Jemal, F. Bray, M. Melissa, J. Ferlay E. Ward, and D. Forman, “Global cancer statistics,” CA Cancer J. Clin., Vol.61, pp. 69-90, 2011.

[2] [2] Foundation for Promotion of Center Research, “Statistics of cancer in 2007,” 2007.

[3] [3] N. Saga and T. Nakamura, “Elucidation of propulsive force of micro-robot using magnetic fluid,” J. of Applied Physics, Vol.91, No.10, parts 2 and 3, pp. 7003-7005, 2002.

[4] [4] N. Saga and T. Nakamura, “A prototype of peristaltic robot using pneumatic artificial muscle,” Intelligent automation system, No.8, pp. 85-95, 2004.

[5] [5] N. Saga and T. Nakamura, “Development of peristaltic-crawling robot using magnetic fluid on the basis of locomotion mechanism of earthworm,” Smart Material and Structure, Vol.13, No.3, pp. 85-95, 2004.

[6] [6] T. Nakamura, T. Kato, T. Iwanaga, and Y. Muranaka, “Development of a peristaltic crawling robot using servomotors based on the locomotion mechanism of earthworms,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 4342-4344, 2006.

[7] [7] T. Nakamura, T. Kato, T. Iwanaga, and Y. Muranaka, “Development of a Peristaltic Crawling Robot Based on Earthworm Locomotion,” J. of Robotics and Mechatronics, Vol.18, No.3, pp. 299-304, 2006.

[8] [8] Y. Hidaka, M. Yokojima, and T. Nakamura, “Peristaltic Crawling Robot with Artificial Rubber Muscles Attached to Large Intestine Endoscope,” Proc. of 1st Int. Conf. on Applied Bionics and Biomechanics (ICABB 2010), October 2010.

[9] [9] E. V. Mangan, D. A. Kingsley, R. D. Quinn, and H. J. Chiel, “Development of a Peristaltic Endoscope,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2002), pp. 347-352, 2002.

[10] [10] G. Yan and K. Wang, “A Wireless Robot for Gastrointestine,” Proc. of IEEE Trans. on Robotic, Vol.24, No.1, pp. 206-210, February 2008.

[11] [11] A. B. Slatkin, J. Burdick, and W. Grundfest, “The Development of a Robotic Endoscope,” Proc. of IEEE Int. Conf. on Intelligent Robot and Systems (IROS 1995), pp. 162-171, 1995.

[12] [12] M. Shinkai, N. Murai, K. Itoh, H. Ishii, A. Takanishi, K. Tanoue, S. Ieiri, K. Konishi, and M. Hasizume, “Development of a robotic endoscope that locomotes in the colon with flexible helical fins,” 31st Annual Int. Conf. of the IEEE EMBS, pp. 5126-5129, September 2009.

[13] [13] S.Wakimoto and K. Suzumori, “Fabrication and Basic Experiments of Pneumatic Multi-chamber Rubber Tube Actuator for Assisting Colonoscope Insertion,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2010), pp. 3260-3265, May 2010.

[14] [14] P. Valdastri, R. J.Webster, III, C. Quaglia, M. Quirini, A.Menciassi, and P. Dario, “A New Mechanism for Mesoscale Legged Locomotion in Compliant Tubular Environments,” IEEE Trans. on Robotics, Vol.25, No.5, pp. 1047-1057, October 2009.

[15] [15] H. Yamamoto, Y. Sekine, Y. Sato, T. Higashizawa, T. Miyata, S. Iino, K. Ido, and K. Sugano, “Total Enteroscopy with a Nonsurgical Steerable Double- Balloon Method,” Gastrointestinal Endoscopy, Vol.53, No.2, pp. 216-220, 2001.

[16] [16] Y. Ueda, “Micromachine: Possibility of Capsule Endoscope and Pancreatic Endoscope,” Clinical digestive tract internal medicine, Vol.12, No.7, pp. 1059-1064, 1997.

[17] [17] H. Sugi, “Evolution of muscle motion,” The University of Tokyo Press, p. 72, 1977 (in Japanese).

[18] [18] T. Nakamura and H. Shinohara, “Position and Force Control Based on Mathematical Models of Pneumatic Artificial Muscles Reinforced by Straight Glass Fibers,” Proc. of IEEE Int. Conf. on Robotics and Automation (ICRA 2007), pp. 4361-4366, 2007.

[19] [19] T. Nakamura, N. Saga, and K. Yaegashi, “Development of Pneumatic Artificial Muscle Based on Biomechanical Characteristics,” Proc. of IEEE Int. Conf. on Industrial Technology (ICIT 2003), pp. 729-734, 2003.

[20] [20] K. Adachi, M. Yokojima, Y. Hidaka, and T. Nakamura, “Development of endoscopic robot and experiment in the large intestine of dead swine,” 2011 IEEE Int. Conf. on Robotics and Biomimetics (ROBIO), pp. 467-472, 2011.