Steerable Eversion Robot Lumen Structure for Low-Friction Navigation
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Solution Overview
Problem
Existing eversion robots face challenges in navigating complex environments due to frictional forces and inability to control direction of growth, limiting their use in medical and industrial applications.
Innovation Solution
A steerable eversion robot system with a steerable structure within its lumen, allowing for minimization of friction while enabling multi-directional navigation and growth control, featuring a hollow inner lumen for instrument passage and a steering mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional ductoscopy platforms are used to navigate mammary ducts, then visual detection of DCIS is possible, but the platforms are unwieldy, inflexible, and create frictional forces against fragile tissues
Solution Approach 1:
The patent employs a soft robot constructed from flexible materials including silicone elastomer and polyethylene that can conform to the delicate mammary duct structure. The robot's compliant body allows it to navigate the complex tree-like duct network without creating damaging frictional forces, while still enabling visual detection of DCIS through integrated imaging capabilities
2Object-affected harmful factors
If eversion robots are used to minimize friction, then navigation through complex environments is improved, but the ability to control direction of growth is limited
Solution Approach 1:
The robot is divided into modular segments that can evert and extend in a controlled manner. The segmented structure allows the robot to navigate complex environments through tip eversion while maintaining the capability to control growth direction through selective actuation of individual segments via integrated actuators and steering mechanisms
Solution Approach 2:
The patent implements dynamic control of the robot's growth direction through integrated actuators that can selectively evvert different segments. The robot transitions from passive eversion to active steerable growth, allowing real-time control of navigation path while maintaining low friction interaction with surrounding tissues
3Adaptability or versatility
If tendons are used for steering, then scalability is improved, but friction along anatomy walls is induced during actuation
Solution Approach 1:
The patent uses fluid pressure as an intermediary to actuate the robot's segments and steering mechanisms. Pressurized fluid transmitted through the robot's lumen enables segment eversion and directional control without mechanical contact with the duct walls, eliminating friction-induced damage while maintaining scalability of the design
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables minimization of friction-induced damage to anatomy while providing steerability and growth control, suitable for endoscopic applications and industrial pipe inspection.
Implementation Method 1
a pressurisation unit arranged to apply a pressure to the first tubular structure
Data Source
AI summary
The present disclosure relates to an eversion robot system and a method of operating an eversion robot system. In particular, it relates to a steerable eversion robot having a steering structure disposed in its lumen, wherein the steering structure is configured to control a direction of growth of the eversion robot. The eversion robot system of the present invention avoids drag to the surrounding environment while still comprising a mechanism for controlling the direction of growth of the eversion robot for navigating a complex environment.