Page 36 - Flexible Robotics in Medicine

CHAPTER 2

Prototyping soft origami quad-bellows

robots from single-bellows characterization

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Marcia J.T. Lee , Bok Seng Yeow , Catherine Jiayi Cai , Zion Tsz Ho Tse and
Hongliang Ren 1
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Department of Biomedical Engineering, National University of Singapore, Singapore, The University
of York, Heslington, York, United Kingdom

Developing soft robots is an important research area for biomedical applications due to
the advantages of soft robots over conventional hard or rigid-bodied robots, such as
compliance, biocompatibility, and biomimicry. This project aims to design and prototype
biomimetic soft origami robots that can navigate in transluminal applications. Starting
from a single-bellows robot conceptualization, we characterized variations in actuation
among prototypes made with materials of different thickness folded into a simple
octagonal bellows design. The quad-bellows prototype utilized four-bellows units with the
inclusion of a scope. This prototype achieved successful navigation of an 8 mm borescope
placed between 9 mm bellows units through a lumen model. The soft robot was able to
interact with the environment safely and adaptable for maneuvering through a compliant
and torturous environment. These traits will allow the soft robot to be applicable in the
field of colonoscopy, in which critical areas of improvement include minimizing patient
discomfort and achieving skilled navigation of the colonoscope. The prototype could also
be suitable for future applications that require in-pipe navigations around luminal
environments.

2.1 Introduction

Developing soft robots is an important research area for biomedical applications due to the
advantages of soft robots over conventional hard or rigid-bodied robots, such as stiffness
compliance, and biomimicry. Although hard or rigid-bodied robots have the advantage of
greater mechanical strength, they are often less able to safely perform delicate tasks that
require tissue instrument stiffness compliance. Fabrication techniques for soft robots can
reduce or eliminate further assembly, as compared to hard robots that traditionally require
joints, adhesives, or fasteners. These additional components are susceptible to wear and

Flexible Robotics in Medicine.
DOI: https://doi.org/10.1016/B978-0-12-817595-8.00002-X 19
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