TY - JOUR
T1 - Autonomous and Reversible Adhesion Using Elastomeric Suction Cups for In-Vivo Medical Treatments
AU - Iwasaki, Haruna
AU - Lefevre, Flavien
AU - Damian, Dana D.
AU - Iwase, Eiji
AU - Miyashita, Shuhei
N1 - Funding Information:
Manuscript received September 10, 2019; accepted January 9, 2020. Date of publication January 31, 2020; date of current version February 12, 2020. This letter was recommended for publication by Associate Editor H. Rodrigue and Editor K.-J. Cho upon evaluation of the reviewers’ comments. This work was supported in part by JASSO Japan Public-Private Partnership Student Study Abroad Program and University of York. (Corresponding author: Haruna Iwasaki.) H. Iwasaki is with the Department of Electronic Engineering, University of York, YO10 5DD York, U.K., and also with the Department of Applied Mechanics, Waseda University, Tokyo 169-8050, Japan (e-mail: haruna28@akane.waseda.jp).
Publisher Copyright:
© 2016 IEEE.
PY - 2020/4
Y1 - 2020/4
N2 - 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.
AB - 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.
KW - Soft robot applications
KW - and suction cups
KW - medical robots and systems
KW - reversible adhesion
KW - wet adhesion
UR - http://www.scopus.com/inward/record.url?scp=85079755096&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85079755096&partnerID=8YFLogxK
U2 - 10.1109/LRA.2020.2970633
DO - 10.1109/LRA.2020.2970633
M3 - Article
AN - SCOPUS:85079755096
VL - 5
SP - 2015
EP - 2022
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 2
M1 - 8977313
ER -