Int J Med Robot - Microgroove cushion of robotic endoscope for active locomotion in the gastrointestinal tract.

Tópicos

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Resumo

CKGROUND: The robotic endoscope the advantage of active locomotion in the gastrointestinal (GI) tract, but lacks a suitable contact device to improve the locomotion efficiency and safety.METHODS: This paper proposes a microgroove cushion for the robotic endoscope to improve its active locomotion ability in the GI tract. Coupons with different microgrooves were designed and tested to verify the contact efficiency of the grooves. Based on experimental investigations, uniform oblique grid grooves were suggested, because they could generate gteater friction than other proposed microgrooves on the intestinal surface. To improve the contact safety of the robotic endoscope, a cushion-type contact device was designed and fabricated. The microgroove cushion was tested under the use of a custom-built robot.RESULTS: An experiment in a rigid tube showed that the robot with cushion had a static friction 65% higher than the robot without cushion; an experiment in the in vitro colonic tract showed that the robot without the cushion produced a more obvious contact appearance than with the cushion. It can be seen that the microgroove cushion provides the robotic endoscope with efficient and safe contact ability.CONCLUSIONS: The microgroove cushion is a useful addition to the development of a contact device for the robotic endoscope in the GI tract, although requiring further improvements.

Resumo Limpo

ckground robot endoscop advantag activ locomot gastrointestin gi tract lack suitabl contact devic improv locomot effici safetymethod paper propos microgroov cushion robot endoscop improv activ locomot abil gi tract coupon differ microgroov design test verifi contact effici groov base experiment investig uniform obliqu grid groov suggest generat gteater friction propos microgroov intestin surfac improv contact safeti robot endoscop cushiontyp contact devic design fabric microgroov cushion test use custombuilt robotresult experi rigid tube show robot cushion static friction higher robot without cushion experi vitro colon tract show robot without cushion produc obvious contact appear cushion can seen microgroov cushion provid robot endoscop effici safe contact abilityconclus microgroov cushion use addit develop contact devic robot endoscop gi tract although requir improv

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