Air-driven spiral scaffold mechanism for a group of mini-robots working together in the intestine

摘要

We develop a scaffold to set a group of mini-robots, which can increase safety and reduce the difficulty of flexible endoscopic surgery. Performing manipulation including endoscopic inspection and ESD (Endoscopic Submucosal Dissection) in the colon (large intestine) is challenging. To solve these problems, we propose a group of mini-robots that can assist in endoscopic manipulation. Furthermore, we propose a scaffold on which the mini-robots can be installed on. The scaffold is air-driven and is an elastic body that is developed from a silicone sheet to enable safe installation in the colon. Furthermore, its shape is spiral to prevent inner pressure increase in the colon by blocking inner lumen and allow freedom of placement for the mini-robots. The scaffold that has electrical wirings can provide power supply and communication with operators. To improve scaffold friction on the colonic wall, a mesh sheet is attached to the scaffold. Furthermore, we proposed to embed a super elastic alloy wire into the scaffold to improve the reproducible expansion of the scaffold and evaluated its effect with a hydrogel-made colon model. “Anchoring force,” which is a tolerating force over a semilunar fold against the pulling force when the scaffold is pulled by traction is measured and compared. Expansion success rates are evaluated when the scaffolds are installed and inflated in the colon model. In conclusion, the scaffold with a mesh sheet has much greater anchoring force than that without a mesh sheet. • Scaffold on which endoscopic manipulation assisting mini-robots are installed on. • The shape of the scaffold is spiral to prevent blocking inner lumen of the colon. • Embed a super elastic alloy wire to improve the reproducible expansion. • A mesh sheet is attached to improve scaffold friction on the colonic wall. • The scaffold with a mesh sheet has much greater anchoring force.