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The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader.

ABSTRACT: Flexible probes that are safely deployed to hard-to-reach targets while avoiding critical structures are strategic in several high-impact application fields, including the biomedical sector and the sector of inspections at large. A critical problem for these tools is the best approach for deploying an entire tool body, not only its tip, on a sought trajectory. A probe that achieves this deployment is considered to follow the leader (or to achieve follow-the-leader deployment) because its body sections follow the track traced by its tip. Follow-the-leader deployment through cavities is complicated due to a lack of external supports. Currently, no definitive implementation for a probe that is intrinsically able to follow the leader, i.e., without relying on external supports, has been achieved. In this paper, we present a completely new device, namely the first interlaced continuum robot, devised to intrinsically follow the leader. We developed the interlaced configuration by pursuing a conceptual approach irrespective of application-specific constraints and assuming two flexible tools with controllable stiffness. We questioned the possibility of solving the previously mentioned deployment problem by harnessing probe symmetry during the design process. This study examines the entire development of the novel interlaced probe: model-based conceptual design, detailed design and prototyping, and preliminary experimental assessment. Our probe can build a track with a radius of curvature that is as small as twice the probe diameter, which enables it to outperform state-of-the-art tools that are aimed at follow-the-leader deployment. Despite the limitations that are inherently associated with its original character, this study provides a prototypical approach to the design of interlaced continuum systems and demonstrates the first interlaced continuum probe, which is intrinsically able to follow the leader.

SUBMITTER: Kang B

PROVIDER: S-EPMC4767230 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature

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The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader.

Kang Byungjeon B Kojcev Risto R Sinibaldi Edoardo E

PloS one 20160225 2

Flexible probes that are safely deployed to hard-to-reach targets while avoiding critical structures are strategic in several high-impact application fields, including the biomedical sector and the sector of inspections at large. A critical problem for these tools is the best approach for deploying an entire tool body, not only its tip, on a sought trajectory. A probe that achieves this deployment is considered to follow the leader (or to achieve follow-the-leader deployment) because its body se ...[more]

PMID: 26914328

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Project description:BackgroundDifficulties in establishing diagnosis of small bowel (SB) disorders, prevented their effective treatment. This problem was largely resolved by wireless capsule endoscopy (WCE), which has since become the first line investigation for suspected SB disorders. Several types of WCE pills are now used in clinical practice, despite their limitations and complications. WCE pills are large, rigid and immotile capsules. When swallowed, they provide SB enteroscopy downloaded to a data logger carried by the patient. Most of the complications of WCEs result from lack of intrinsic locomotion: incomplete examination, capsule retention and impaction within strictures. In addition, the rigid nature and size of current generation of WCE pills is accompanied by 0.1% inability to swallow the pill by patients with normal esophageal motility.MethodsThe aim of this communication is to describe the initial prototype, P1, which is thinner and slightly longer than the current generation of WCEs. In addition, it exhibits intrinsic active locomotion, produced by vibrating silicon legs. These generate a controlled-skid locomotion on the small bowel mucosal surface, rendered slippery by surface mucus and intraluminal surfactant bile salts. We demonstrate the mechanism responsible for the active locomotion of P1, which we consider translatable into a working prototype, suitable for further R&D for eventual clinical translation.ResultsThe shape and attachment of the rubber vibrating legs to vibrating actuators, have been designed specifically to produce a tight clockwise circular motion. When inserted inside a circular tube in vitro of equivalent diameter to human small intestine, the intrinsic circular clockwise motion of P1 translates into a linear locomotion by the constraints imposed by the surrounding circular walls of SB and rest of the gastrointestinal tract. This design ensures device stability during transit, essential for imaging and targeting lesions encountered during the enteroscopy. We preformed two experiments: (i) transit of P1 through a phantom consisting of a segment of PVC tube placed on a horizontal surface and (ii) transit through a transparent slippery nylon sleeve insufflated with air. In the PVC tube, its transit rate averages 15.6 mm/s, which is too fast for endoscopy: whereas inside the very slippery nylon sleeve insufflated with air, the average transit rate of P1 is reduced to 5.9 mm/s, i.e., ideal for inspection endoscopy.ConclusionsThese in-vitro experiments indicate that the P1 hybrid soft robot prototype has the potential specifically for clinical translation for SB enteroscopy.

Dataset Information

The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader.

Publications

The First Interlaced Continuum Robot, Devised to Intrinsically Follow the Leader.

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