Design of a Soft Bio-Inspired Tissue Transport Mechanism

Conference paper (2023)

Authors

V.G. Kortman Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
J. Jovanova Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering
A. Sakes Medical Instruments & Bio-Inspired Technology - Mechanical, Maritime and Materials Engineering
Research Group
Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 V.G. Kortman, J. Jovanova, A. Sakes
DOI: https://doi.org/10.1109/RoboSoft55895.2023.10121942
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Published Date

2023

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

In the medical field, it is essential to remove delicate tissues from the body without damaging them or disturbing the surroundings. Current tissue transport mechanisms depend on the tissue composition and shape of the transported tissue, which results in problems such as clogging. This study presents a soft transportation mechanism for tissues inspired by the longitudinal muscles associated with the peristaltic movement of the gastrointestinal tract. The mechanism is designed as a conveying toroid that turns itself inside out in a continuous motion. A fabrication method was developed to manufacture a small-sized silicone toroid, filled with lubricating liquid. Comparable to the peristaltic movement, the silicone toroid adapts its shape to the transported tissue which results in a soft seal around the tissue. The toroid conveys the tissue while locking it at a stationary spot. A prototype was built to evaluate the transport efficiency of the conveying toroid in differently curved pathways. The preliminary experiments showed good transport efficiency, revealing the potential of the proposed soft transport mechanism for medical, and other transport applications.

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- Embargo expired in 15-10-2023