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Worm-Like Soft Robot for Complicated Tubular Environments.

Boyu Zhang1, Yingwei Fan1, Penghui Yang1

  • 1Department of Biomedical Engineering, School of Medicine, Tsinghua University, Beijing, China.

Soft Robotics
|June 11, 2019
PubMed
Summary

A novel worm-like soft robot navigates complex tubular environments, including pipelines and for medical endoscopic surgery. This adaptable robot demonstrates robust locomotion and steering capabilities for diverse applications.

Keywords:
compliant tubular environmentsmulti-DoFpneumaticsoft roboticsworm-like

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Materials Science

Background:

  • Complex tubular environments pose significant challenges for traditional rigid robots.
  • Existing soft robots often lack the adaptability and robustness required for diverse applications.

Purpose of the Study:

  • To develop a versatile, worm-like soft robot for navigating complex tubular environments.
  • To demonstrate the robot's capabilities in both industrial pipeline inspection and clinical endoscopic surgery.

Main Methods:

  • Design and fabrication of a soft robot with a multi-degree of freedom (DoF) extension module and reconfigurable clampers.
  • Development of a low-cost, time-efficient fabrication method.
  • Experimental validation in various phantom and application scenarios.

Main Results:

  • The soft robot successfully navigated tubes of varying diameters, branches, and materials (dry, liquid, hard, deformable).
  • Demonstrated locomotion and steering in 3D space with a load-carrying capacity exceeding 10 times its own weight.
  • Integration of visualization, biopsy, and sensor units for enhanced functionality.

Conclusions:

  • The proposed worm-like soft robot is compact, flexible, safe, and extensible.
  • Its ability to operate in complex, unstructured environments highlights significant potential for search and medical applications.