抄録
Remotely controllable and reversible adhesion is highly desirable for surgical operations: it can provide the possibility of non-invasive surgery, flexibility in fixing a patch and surgical manipulation via sticking. In our previous work, we developed a remotely controllable, ingestible, and deployable pill for use as a patch in the human stomach. In this study, we focus on magnetically facilitated reversible adhesion and develop a suction-based adhesive mechanism as a solution for non-invasive and autonomous adhesion of patches. We present the design, model, and fabrication of a magnet-embedded elastomeric suction cup. The suction cup can be localised, navigated, and activated or deactivated in an autonomous way; all realised magnetically with a pre-programmed fashion. The use of the adhesion mechanism is demonstrated for anchoring and carrying, for patching an internal organ surface and for an object removal, respectively.
| 本文言語 | English |
|---|---|
| 論文番号 | 8977313 |
| ページ（範囲） | 2015-2022 |
| ページ数 | 8 |
| ジャーナル | IEEE Robotics and Automation Letters |
| 巻 | 5 |
| 号 | 2 |
| DOI | |
| 出版ステータス | Published - 2020 4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Biomedical Engineering
- Human-Computer Interaction
- Mechanical Engineering
- Computer Vision and Pattern Recognition
- Computer Science Applications
- Control and Optimization
- Artificial Intelligence