This letter introduces the design and evaluation of a novel worm-inspired, multisegment robotic endoscope with multiple degrees of freedom segments. The novelty of this design is that the robot is able to drive forwards and backwards, anchor itself, steer while inside a tubular structure and control the orientation of an end-mounted camera all by bending its flexible segments. The mechanical design is shown and a sensing system based on Hall Effect sensors is incorporated. In a simulated colon, a top speed of 1.21 mm/s was achieved, equivalent to roughly 38% of the theoretical maximum. These results are discussed and further improvements are suggested, followed by general concluding remarks.

A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy

AREZZO, Alberto;
2017-01-01

Abstract

This letter introduces the design and evaluation of a novel worm-inspired, multisegment robotic endoscope with multiple degrees of freedom segments. The novelty of this design is that the robot is able to drive forwards and backwards, anchor itself, steer while inside a tubular structure and control the orientation of an end-mounted camera all by bending its flexible segments. The mechanical design is shown and a sensing system based on Hall Effect sensors is incorporated. In a simulated colon, a top speed of 1.21 mm/s was achieved, equivalent to roughly 38% of the theoretical maximum. These results are discussed and further improvements are suggested, followed by general concluding remarks.
2017
2
3
1718
1724
Biologically-inspired robots, medical robots and systems, soft material robotics.
Bernth, Julius E.; Arezzo, Alberto; Liu, Hongbin
File in questo prodotto:
File Dimensione Formato  
A NOVEL ROBOTIC MESHWORM.pdf

Accesso riservato

Descrizione: PDF EDITORIALE ACCESSO CHIUSO
Tipo di file: PDF EDITORIALE
Dimensione 723.44 kB
Formato Adobe PDF
723.44 kB Adobe PDF   Visualizza/Apri   Richiedi una copia
meshworm_4aperto.pdf

Accesso aperto

Descrizione: post print ad accesso aperto come da norme editeriali SHERPA ROMEO
Tipo di file: POSTPRINT (VERSIONE FINALE DELL’AUTORE)
Dimensione 1.42 MB
Formato Adobe PDF
1.42 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2318/1635840
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 57
  • ???jsp.display-item.citation.isi??? 49
social impact