{"title":"开发用于肠道检查的水蛭启发蠕动爬行软机器人","authors":"Gongxin Li, Mindong Wang, Yazhou Zhu, Yadong Wang","doi":"10.1007/s41315-024-00358-7","DOIUrl":null,"url":null,"abstract":"<p>The development of a non-destructive and patient-friendly method for examining the intestines is crucial for early prevention and timely diagnosis of prevalent intestinal diseases that pose a threat to human health worldwide. Although the soft robot shows promise as an examination method due to its safe human-machine interaction and high maneuverability, achieving controlled and non-damaging movements within the flexible and delicate structure of the intestines remains a significant challenge. In this study, we propose and design a leech-inspired soft robot capable of operating in an intestine-like environment while ensuring lossless and controllable functionality. The soft robot consists of two dual-chambered adsorption actuators serving as “feet” and a retractable actuator as the body, enabling the robot to crawl by programmatically controlling the alternating movements of the adsorption actuators and the cooperation of the retractable actuator. Through numerical simulations, and movement tests in various scenarios such as planes, slopes, and intestine-like pipelines, we verified the adsorption characteristics and regulation mechanism of the adsorption actuator, as well as the movement performance of the robot. The results demonstrate that the adsorption actuator achieves a maximum adsorption force of 3.17 N, and the soft robot attains a maximum moving speed of 9.29 mm/s. This research offers a non-destructive and patient-friendly approach that holds promise for the detection and treatment of intestinal diseases in practical applications.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Development of a leech-inspired peristaltic crawling soft robot for intestine inspection\",\"authors\":\"Gongxin Li, Mindong Wang, Yazhou Zhu, Yadong Wang\",\"doi\":\"10.1007/s41315-024-00358-7\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p>The development of a non-destructive and patient-friendly method for examining the intestines is crucial for early prevention and timely diagnosis of prevalent intestinal diseases that pose a threat to human health worldwide. Although the soft robot shows promise as an examination method due to its safe human-machine interaction and high maneuverability, achieving controlled and non-damaging movements within the flexible and delicate structure of the intestines remains a significant challenge. In this study, we propose and design a leech-inspired soft robot capable of operating in an intestine-like environment while ensuring lossless and controllable functionality. The soft robot consists of two dual-chambered adsorption actuators serving as “feet” and a retractable actuator as the body, enabling the robot to crawl by programmatically controlling the alternating movements of the adsorption actuators and the cooperation of the retractable actuator. Through numerical simulations, and movement tests in various scenarios such as planes, slopes, and intestine-like pipelines, we verified the adsorption characteristics and regulation mechanism of the adsorption actuator, as well as the movement performance of the robot. The results demonstrate that the adsorption actuator achieves a maximum adsorption force of 3.17 N, and the soft robot attains a maximum moving speed of 9.29 mm/s. This research offers a non-destructive and patient-friendly approach that holds promise for the detection and treatment of intestinal diseases in practical applications.</p>\",\"PeriodicalId\":44563,\"journal\":{\"name\":\"International Journal of Intelligent Robotics and Applications\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":2.1000,\"publicationDate\":\"2024-07-08\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"International Journal of Intelligent Robotics and Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1007/s41315-024-00358-7\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00358-7","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
Development of a leech-inspired peristaltic crawling soft robot for intestine inspection
The development of a non-destructive and patient-friendly method for examining the intestines is crucial for early prevention and timely diagnosis of prevalent intestinal diseases that pose a threat to human health worldwide. Although the soft robot shows promise as an examination method due to its safe human-machine interaction and high maneuverability, achieving controlled and non-damaging movements within the flexible and delicate structure of the intestines remains a significant challenge. In this study, we propose and design a leech-inspired soft robot capable of operating in an intestine-like environment while ensuring lossless and controllable functionality. The soft robot consists of two dual-chambered adsorption actuators serving as “feet” and a retractable actuator as the body, enabling the robot to crawl by programmatically controlling the alternating movements of the adsorption actuators and the cooperation of the retractable actuator. Through numerical simulations, and movement tests in various scenarios such as planes, slopes, and intestine-like pipelines, we verified the adsorption characteristics and regulation mechanism of the adsorption actuator, as well as the movement performance of the robot. The results demonstrate that the adsorption actuator achieves a maximum adsorption force of 3.17 N, and the soft robot attains a maximum moving speed of 9.29 mm/s. This research offers a non-destructive and patient-friendly approach that holds promise for the detection and treatment of intestinal diseases in practical applications.
期刊介绍:
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications