TY - GEN
T1 - A disposable continuum endoscope using piston-driven parallel bellow actuator
AU - Garbin, Nicolo
AU - Wang, Long
AU - Chandler, James H.
AU - Obstein, Keith L.
AU - Simaan, Nabil
AU - Valdastri, Pietro
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/4/6
Y1 - 2018/4/6
N2 - This paper presents a novel low cost disposable continuum endoscope based on a piston-driven parallel bellow actuator design. The parallel bellow actuator achieves motion by being pressurized via displacement-controlled pistons. The displacements are generated by rack-and-pinion mechanisms using inexpensive stepper motors. The design concept provides a potential alternative solution to upper gastrointestinal (UGI) diagnosis. The modularity and the use of inexpensive components allow for low fabrication costs and disposability. The use of robotic assistance could facilitate the development of an easier interface for the gastroenterologists, avoiding the nonintuitive manipulation mapping of the traditional UGI endoscopes. We adapt existing kinematic solutions of multi-backbone continuum robots to model continuum parallel bellow actuators. An actuation compensation strategy is presented and validated to address the pneumatic compressibility through the transmission lines. The design concept was prototyped and tested with a custom control platform. The experimental validation shows that the actuation compensation was demonstrated to significantly improve orientation control of the endoscope end-effector. This paper shows the feasibility of the proposed design and lays the foundation toward clinical scenarios.
AB - This paper presents a novel low cost disposable continuum endoscope based on a piston-driven parallel bellow actuator design. The parallel bellow actuator achieves motion by being pressurized via displacement-controlled pistons. The displacements are generated by rack-and-pinion mechanisms using inexpensive stepper motors. The design concept provides a potential alternative solution to upper gastrointestinal (UGI) diagnosis. The modularity and the use of inexpensive components allow for low fabrication costs and disposability. The use of robotic assistance could facilitate the development of an easier interface for the gastroenterologists, avoiding the nonintuitive manipulation mapping of the traditional UGI endoscopes. We adapt existing kinematic solutions of multi-backbone continuum robots to model continuum parallel bellow actuators. An actuation compensation strategy is presented and validated to address the pneumatic compressibility through the transmission lines. The design concept was prototyped and tested with a custom control platform. The experimental validation shows that the actuation compensation was demonstrated to significantly improve orientation control of the endoscope end-effector. This paper shows the feasibility of the proposed design and lays the foundation toward clinical scenarios.
KW - actuation compensation
KW - disposable endoscopy
KW - rubber bellows
KW - soft robotic
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U2 - 10.1109/ISMR.2018.8333287
DO - 10.1109/ISMR.2018.8333287
M3 - Conference contribution
AN - SCOPUS:85050598892
T3 - 2018 International Symposium on Medical Robotics, ISMR 2018
SP - 1
EP - 6
BT - 2018 International Symposium on Medical Robotics, ISMR 2018
T2 - 2018 International Symposium on Medical Robotics, ISMR 2018
Y2 - 1 March 2018 through 3 March 2018
ER -