NDLI: Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

Content Provider	IEEE Xplore Digital Library
Author	Chen, G. Pham, M.T. Redarce, T.
Copyright Year	2006
Description	Author affiliation: LAI, INSA, Villeurbanne (Chen, G.; Pham, M.T.; Redarce, T.)
Abstract	In this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and biocompatibility. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20 mm). Three servo-valves are used to control the pressure of each chamber of this tip to obtain its flexible movement. The experimental results of this new prototype show that it can bend until 120 degrees under the pressure of 2 bar. Based on the geometric deformation and a nonlinear analysis of the silicone behavior, a direct kinematic model analogous to the forward kinematics of a conventional industrial robot kinematics chain has been put forward. The proposed kinematic model of this bendable tip is an extended model of classical models found for such a mechanism. At first a polynomial approximation is used to characterize the non linear behavior of each chamber of the actuator. Next the coupling phenomena between each chamber are highlighted through experimental tests. A new correction parameter is then proposed to take into account these interactions and a non linear optimization is made to compute this coefficient. Finally, the proposed kinematic model is experimentally validated
Starting Page	168
Ending Page	173
File Size	7373358
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282129
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Colonoscopy Manipulators Rubber Colon Pressure control Prototypes Robot kinematics Polynomials Hydraulic actuators Testing continuum robot Micro-robot colonoscopy modeling medical robotics
Content Type	Text
Resource Type	Article

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