Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices

Shuichi Wakimoto; Issei Kumagai; Koichi Suzumori

doi:10.20965/ijat.2011.p0551

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IJAT Vol.5 No.4 pp. 551-558

doi: 10.20965/ijat.2011.p0551

(2011)

Paper:

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Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices

Shuichi Wakimoto, Issei Kumagai, and Koichi Suzumori

Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, Okayama, Japan

Received:

January 14, 2011

Accepted:

March 30, 2011

Published:

July 5, 2011

Keywords:

colonoscopy, pneumatic actuator, soft mechanism, variable stiffness device

Abstract

Colonoscopy is important and effective medical procedure to detect colonic disorder including cancer of the colon. However, because the large intestine is soft and complex shape, insertion of conventional colonoscopes into the large intestine is difficult, and it depends on doctors’ skill strongly. In many cases, patients feel strong pain. In this research, we aim at development of a novel colonoscope which can change own stiffness partially and realize safe insertion without special techniques. The colonoscope consists of variable stiffness devices. The device is made from silicone rubber and can change its stiffness by pneumatic pressure. In this report, two kinds of variable stiffness devices made from different silicone rubber materials have been developed by molding, and stiffness change characteristics of them are shown experimentally. By applying not only positive pneumatic pressure but also negative pressure, widely stiffness change range is realized. Additionally colonoscopes have been fabricated using them and FMA (Flexible Microactuator). From insertion experiments into the large intestine phantom, advantages and effectiveness have been recognized.

Cite this article as:

S. Wakimoto, I. Kumagai, and K. Suzumori, “Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices,” Int. J. Automation Technol., Vol.5 No.4, pp. 551-558, 2011.

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References

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[7] B. Kim, H. Lim, K. Kim, Y. Jeong, and J. Park, “A Locomotive Mechanism for a Robotic Colonoscope,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1373-1378, 2002.
[8] S.Wakimoto and K. Suzumori, “Fabrication and Basic Experiments of Pneumatic Multi-chamber Rubber Tube Actuator for Assisting Colonoscope Insertion,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3260-3265, 2010.
[9] K. Ikuta, “Cable with variable rigidity,” 10-295629, Japan Patent.
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[12] S.Wakimoto, I. Kumagai, and K. Suzumori, “Development of large Intestine Endoscope Changing Its Stiffness,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp. 2320-2325, 2009.
[13] I. Kumagai, S. Wakimoto, and K. Suzumori, “Development of Large Intestine Endoscope Changing Its Stiffness – 2nd report: Improvement of Stiffness Change Device and Insertion Experiment –,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp. 241-246, 2010.
[14] H. F. Schulte, “The Characteristics of theMcKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthetics, pp. 94-115, 1961.
[15] K. Suzumori, S. Iikura, and H. Tanaka, “Applying a Flexible Microactuator to Robotic Mechanisms,” IEEE Control Systems, pp. 21-27, 1992.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] G. Iddan, G. Meron, A. Glukhovsky, and P. Swain, “Wireless Capsule Endoscopy,” Nature, Vol.405, p. 417, 2000.

[2] [2] M. Delvaux and G. Gay, “Capsule endoscopy in 2005: Facts and perspective,” Best Practice & Research Clinical Gastroenterology, Vol.20, No.1, pp. 23-39, 2006.

[3] [3] G. M. Eisen, “Capsule Endoscopy Indications,” American Society for Gastrointestinal Endoscopy, Vol.14, No.1, pp. 1-4, 2006.

[4] [4] B. Vucelic, D. Rex, R. Pulanic, J. Pfefer, I. Hrstic, B. Levin, Z. Halpern, and N. Arber, “The Aer-O-Scope, Proof of Concept of a Pneumatic, Skill- Independent, Self-Propelling, Self-Navigating Colonoscope,” Gastroenterology, pp. 672-677, 2006.

[5] [5] M. Chiara, A. Arena, D. Accoto, A. Menciassi, and P. Dario, “A SMA-actuated miniature pressure regulator for a miniature robot for colonoscopy,” Sensors and Actuators A, Vol.105, pp. 119-131, 2003.

[6] [6] K. Ikuta, M. Tsukamoto, and S. Hirose, “Shape Memory Alloy Servo Actuator System with Electric Resistance Feedback and its Application to Active Endoscope,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 427-430, 1988.

[7] [7] B. Kim, H. Lim, K. Kim, Y. Jeong, and J. Park, “A Locomotive Mechanism for a Robotic Colonoscope,” Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1373-1378, 2002.

[8] [8] S.Wakimoto and K. Suzumori, “Fabrication and Basic Experiments of Pneumatic Multi-chamber Rubber Tube Actuator for Assisting Colonoscope Insertion,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3260-3265, 2010.

[9] [9] K. Ikuta, “Cable with variable rigidity,” 10-295629, Japan Patent.

[10] [10] J. C. Brooker, B. P. Saunders, S. G. Shah, and C. B. Williams, “A new variable stiffness colonoscope makes colonoscopy easier: a randomized controlled trial,” Int. J. of Gastroenterology and Hepatology, Vol.46, pp. 801-805, 2000.

[11] [11] T. Ihara, T. Saito, K. Nakano, and M. Oka, “Various Stiffness Tube for Colonoscopes with Shape memory alloy actuators,” Proc. of conf. on The Japan Society of Mechanical Engineers Chugoku-Shikoku Branch, pp. 25-26, 2002. (in Japanese)

[12] [12] S.Wakimoto, I. Kumagai, and K. Suzumori, “Development of large Intestine Endoscope Changing Its Stiffness,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp. 2320-2325, 2009.

[13] [13] I. Kumagai, S. Wakimoto, and K. Suzumori, “Development of Large Intestine Endoscope Changing Its Stiffness – 2nd report: Improvement of Stiffness Change Device and Insertion Experiment –,” Proc. of IEEE Int. Conf. on Robotics and Biomimetics, pp. 241-246, 2010.

[14] [14] H. F. Schulte, “The Characteristics of theMcKibben Artificial Muscle,” The Application of External Power in Prosthetics and Orthetics, pp. 94-115, 1961.

[15] [15] K. Suzumori, S. Iikura, and H. Tanaka, “Applying a Flexible Microactuator to Robotic Mechanisms,” IEEE Control Systems, pp. 21-27, 1992.