A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy.
Journal
Scientific reports
ISSN: 2045-2322
Titre abrégé: Sci Rep
Pays: England
ID NLM: 101563288
Informations de publication
Date de publication:
31 07 2019
31 07 2019
Historique:
received:
05
04
2019
accepted:
08
07
2019
entrez:
2
8
2019
pubmed:
2
8
2019
medline:
2
8
2019
Statut:
epublish
Résumé
The design of a smart robot for colonoscopy is challenging because of the limited available space, slippery internal surfaces, and tortuous 3D shape of the human colon. Locomotion forces applied by an endoscopic robot may damage the colonic wall and/or cause pain and discomfort to patients. This study reports a Soft Pneumatic Inchworm Double balloon (SPID) mini-robot for colonoscopy consisting of two balloons connected by a 3 degrees of freedom soft pneumatic actuator. SPID has an external diameter of 18 mm, a total length of 60 mm, and weighs 10 g. The balloons provide anchorage into the colonic wall for a bio-inspired inchworm locomotion. The proposed design reduces the pressure applied to the colonic wall and consequently pain and discomfort during the procedure. The mini-robot has been tested in a deformable plastic colon phantom of similar shape and dimensions to the human anatomy, exhibiting efficient locomotion by its ability to deform and negotiate flexures and bends. The mini-robot is made of elastomer and constructed from 3D printed components, hence with low production costs essential for a disposable device.
Identifiants
pubmed: 31367005
doi: 10.1038/s41598-019-47320-3
pii: 10.1038/s41598-019-47320-3
pmc: PMC6668406
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
11109Références
Gut. 2015 Oct;64(10):1637-49
pubmed: 26041752
Bioinspir Biomim. 2014 Oct 07;9(4):046006
pubmed: 25289658
Nature. 2015 May 28;521(7553):467-75
pubmed: 26017446
Clin Endosc. 2017 Jul;50(4):322-327
pubmed: 28783920
J R Soc Interface. 2018 Nov 21;15(148):
pubmed: 30464056
World J Gastroenterol. 2019 Jan 14;25(2):190-204
pubmed: 30670909
Annu Rev Biomed Eng. 2012;14:397-429
pubmed: 22655598
Gastrointest Endosc. 2013 Apr;77(4):519-25
pubmed: 23415258
Radiographics. 2000 Mar-Apr;20(2):399-418
pubmed: 10715339
Clin Endosc. 2018 Jan;51(1):37-49
pubmed: 29397655
Soft Robot. 2018 Apr;5(2):133-137
pubmed: 29189100
Int J Comput Assist Radiol Surg. 2017 Mar;12(3):379-388
pubmed: 27854032
Surg Endosc. 2012 May;26(5):1238-46
pubmed: 22179445
Cancer Sci. 2015 Dec;106(12):1744-9
pubmed: 26432528
Gastroenterology. 1980 Jan;78(1):7-14
pubmed: 7350038
IEEE Rev Biomed Eng. 2015;8:138-51
pubmed: 26292162
Curr Treat Options Gastroenterol. 2016 Mar;14(1):152-62
pubmed: 26825703
Sci Rep. 2015 Dec 03;5:17414
pubmed: 26633758
Int J Med Robot. 2009 Dec;5(4):471-8
pubmed: 19760682
Int J Med Robot. 2017 Jun;13(2):
pubmed: 27416878
Proc (Bayl Univ Med Cent). 2015 Jan;28(1):3-6
pubmed: 25552784
Nature. 2018 Feb 1;554(7690):81-85
pubmed: 29364873
Proc Inst Mech Eng H. 2015 Mar;229(3):255-63
pubmed: 25834001
Soft Robot. 2015 Mar 1;2(1):7-25
pubmed: 27625913
Bioinspir Biomim. 2015 May 13;10(3):035008
pubmed: 25970550
Sci Robot. 2017 Nov 29;2(12):
pubmed: 33157905
Med Eng Phys. 2016 Feb;38(2):148-54
pubmed: 26762775
Gastrointest Endosc. 2000 Aug;52(2):237-40
pubmed: 10922101
Gastroenterology. 2018 May;154(7):1970-1984
pubmed: 29454795
Dig Liver Dis. 2013 Aug;45(8):657-62
pubmed: 23453360
J Med Eng Technol. 2017 Nov;41(8):662-669
pubmed: 29117761
CA Cancer J Clin. 2018 Nov;68(6):394-424
pubmed: 30207593
Soft Robot. 2017 Mar;4(1):3-15
pubmed: 29182099