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
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.
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