[Design and research of a pneumatic soft intestine robot imitating the inchworm].

Q4 Medicine
Yongsheng He, Zhijun Sun, Jie Yuan, Congwen Wei, Guowei Han, Xiaocheng Chu
{"title":"[Design and research of a pneumatic soft intestine robot imitating the inchworm].","authors":"Yongsheng He, Zhijun Sun, Jie Yuan, Congwen Wei, Guowei Han, Xiaocheng Chu","doi":"10.7507/1001-5515.202409028","DOIUrl":null,"url":null,"abstract":"<p><p>In order to seek a patient friendly and low-cost intestinal examination method, a structurally simple pneumatic soft intestinal robot inspired by inchworms is designed and manufactured. The intestinal robot was consisted of two radially expanding cylindrical rubber film airbags for anchoring and one low density polyethylene film airbag for axial elongation, which achieved movement in the intestine by mimicking the crawling of inchworms. Theoretical derivation was conducted on the relationship between the internal air pressure of the anchored airbag and the free deformation size after expansion, and it pointed out that the uneven deformation of the airbag was a phenomenon of expansion instability caused by large deformation of the rubber material. The motion performance of the intestinal robot was validated in different sizes of hard tubes and <i>ex vivo</i> pig small intestine. The running speed in the <i>ex vivo</i> pig small intestine was 4.87 mm/s, with an anchoring force of 2.33 N when stationary, and could smoothly pass through a 90 ° bend. This work expects to provide patients with a new method of low pain and low-cost intestinal examination.</p>","PeriodicalId":39324,"journal":{"name":"生物医学工程学杂志","volume":"41 6","pages":"1137-1144"},"PeriodicalIF":0.0000,"publicationDate":"2024-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11955353/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"生物医学工程学杂志","FirstCategoryId":"1087","ListUrlMain":"https://doi.org/10.7507/1001-5515.202409028","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Medicine","Score":null,"Total":0}
引用次数: 0

Abstract

In order to seek a patient friendly and low-cost intestinal examination method, a structurally simple pneumatic soft intestinal robot inspired by inchworms is designed and manufactured. The intestinal robot was consisted of two radially expanding cylindrical rubber film airbags for anchoring and one low density polyethylene film airbag for axial elongation, which achieved movement in the intestine by mimicking the crawling of inchworms. Theoretical derivation was conducted on the relationship between the internal air pressure of the anchored airbag and the free deformation size after expansion, and it pointed out that the uneven deformation of the airbag was a phenomenon of expansion instability caused by large deformation of the rubber material. The motion performance of the intestinal robot was validated in different sizes of hard tubes and ex vivo pig small intestine. The running speed in the ex vivo pig small intestine was 4.87 mm/s, with an anchoring force of 2.33 N when stationary, and could smoothly pass through a 90 ° bend. This work expects to provide patients with a new method of low pain and low-cost intestinal examination.

仿尺蠖气动软肠机器人的设计与研究
为了寻求一种对患者友好且成本低廉的肠道检查方法,以尺蠖为灵感,设计并制造了一种结构简单的气动软肠机器人。肠道机器人由两个径向膨胀的圆柱形橡胶膜气囊进行锚定和一个低密度聚乙烯膜气囊进行轴向延伸组成,通过模拟尺蠖的爬行来实现肠道内的运动。对锚定气囊内部气压与膨胀后自由变形大小的关系进行了理论推导,指出气囊的不均匀变形是橡胶材料大变形引起的膨胀失稳现象。在不同尺寸的硬管和离体猪小肠中验证了肠道机器人的运动性能。离体猪小肠内的运行速度为4.87 mm/s,静止时的锚定力为2.33 N,可顺利通过90°弯道。本工作有望为患者提供一种低痛苦、低成本的肠道检查新方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
生物医学工程学杂志
生物医学工程学杂志 Medicine-Medicine (all)
CiteScore
0.80
自引率
0.00%
发文量
4868
期刊介绍:
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信