By Topic

Optimum design of pneumatic multi-chamber rubber tube actuator generating traveling deformation waves for colonoscope insertion

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Onoe, H. ; Dept. of Syst. Eng., Okayama Univ., Okayama ; Suzumori, K. ; Wakimoto, S.

A pneumatic multi-chamber rubber tube actuator was designed, fabricated, and tested. Applying pneumatic pressure to each chamber sequentially causes periodical motions of the rubber tube surface tracing a polygon shape. By winding a pair of the tube actuators in parallel spirally around a colonoscope, they generate deformation waves around the colonoscope traveling along its axis, cause the locomotion force, and work to assist colonoscope insertion to large intestine. The basic idea and structure of the actuator and the experimental results showing their potential as a linear actuator assisting colonoscope insertion were reported in the previous paper. However, improvements of actuator designs in detail are still necessary to increase their locomotion ability. In this report, after surveys and evaluation of several types of this rubber tube designs, optimizing designs were made. The evaluation and designs are made based on non-linear FEM analysis. We successfully obtained an optimized actuator design which generates the motion 15.5 times larger than that of the actuator reported in previous report. The prototype shows good performances.

Published in:

Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on

Date of Conference:

2-5 July 2008