Autonomous and Reversible Adhesion Using Elastomeric Suction Cups for In-Vivo Medical Treatments

Haruna Iwasaki*, Flavien Lefevre, Dana D. Damian, Eiji Iwase, Shuhei Miyashita

*この研究の対応する著者

研究成果: Article査読

4 被引用数 (Scopus)

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
5
2
DOI
出版ステータスPublished - 2020 4月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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