抄録
In this research, we have developed a tube type pneumatic soft actuator for assisting colonoscope insertion. In this paper, we focused on the shape of the actuator's fin for improving the propelling ability. The height of the fin changed 0.5mm into 1.0mm and 1.5mm. In addition, the angle of the fin was also changed into 30° for adding friction anisotropy between forward direction and backward direction. In these results, 2.2 times higher self propelling velocity was realized compared to the previous actuator. Moreover an endoscope for evaluation having steering mechanism driven pneumatically has been fabricated and developed actuator has been embedded. From phantom experiments, we confirmed that the endoscope can reach the ascending colon.
