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

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

研究成果: Article査読

1 被引用数 (Scopus)


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.

ジャーナルIEEE Robotics and Automation Letters
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

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