start-ver=1.4
cd-journal=joma
no-vol=29
cd-vols=
no-issue=7
article-no=
start-page=619
end-page=625
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20110915
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Design and Basic Characteristics of Pneumatic Rubber Tube Actuator for Colonoscope Insertion
kn-title=大腸内視鏡挿入支援を目指したラバーチューブアクチュエータの設計と基礎駆動特性
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Colonoscopy is an important medical action to detect disorders like colon cancer. However generally it is difficult to insert a scope into the colon, because the colon is flexible and complex shape. This study aims at development of an actuator which can add propelling ability to a colonoscope. We focus on rubber pneumatic actuators, because advantages of them, for example, high compliance, low cost, water proof, and so on, agree with the required properties of medical devices. In this paper, we design a novel rubber actuator consisting of three air chambers by nonlinear FEM (finite element method) and fabricate the actuator employing the design by extrusion molding method. Basic characteristics of the actuator are clarified by a motion capture system, and functional motion leading assisting colonoscope insertion is observed. Actually using dummy endoscope, transportation ability by the actuators is confirmed experimentally and insertion experiments into a large intestine phantom are conducted.
en-copyright=
kn-copyright=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=脇元修一
kn-aut-sei=脇元
kn-aut-mei=修一
aut-affil-num=1
ORCID=

en-aut-name=OzakiKen
en-aut-sei=Ozaki
en-aut-mei=Ken
kn-aut-name=尾崎健
kn-aut-sei=尾崎
kn-aut-mei=健
aut-affil-num=2
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=鈴森康一
kn-aut-sei=鈴森
kn-aut-mei=康一
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学

affil-num=2
en-affil=
kn-affil=岡山大学

affil-num=3
en-affil=
kn-affil=岡山大学
en-keyword=Soft Actuator
kn-keyword=Soft Actuator
en-keyword=Colonoscope Robot
kn-keyword=Colonoscope Robot
en-keyword=Soft Mechanism
kn-keyword=Soft Mechanism
END