A disposable continuum endoscope using piston-driven parallel bellow actuator

Nicolo Garbin, Long Wang, James H. Chandler, Keith L. Obstein, Nabil Simaan, Pietro Valdastri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

20 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2018 International Symposium on Medical Robotics, ISMR 2018
Pages1-6
Number of pages6
ISBN (Electronic)9781538625125
DOIs
StatePublished - 6 Apr 2018
Event2018 International Symposium on Medical Robotics, ISMR 2018 - Atlanta, United States
Duration: 1 Mar 20183 Mar 2018

Publication series

Name2018 International Symposium on Medical Robotics, ISMR 2018
Volume2018-January

Conference

Conference2018 International Symposium on Medical Robotics, ISMR 2018
Country/TerritoryUnited States
CityAtlanta
Period1/03/183/03/18

Keywords

  • actuation compensation
  • disposable endoscopy
  • rubber bellows
  • soft robotic

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