MODELLING AND DESIGN OF CONTROL SYSTEM PROTOTYPE FOR PERISTALTIC ENDOSCOPES

• Main Author: Pratama Putra, Nanda
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/56491
• Institution: Institut Teknologi Bandung

Minimally Invasive Surgery (MIS) is a surgical methodology that minimize the number of cuts done to the patients. Compared to conventional methodologies, this method comes with various advantages. MIS can be done due to the existence of endoscope, a device that able to give visual image of the patient’s insides. Even though endoscopes have been made with flexible materials, the usage of endoscopes may cause deformation inside the patient’s body. Soft robot is one of the alternatives to solve the problem. Made from soft materials, soft robot has an advantage when it comes to safety of directly interacting with humans. However, as a relatively new subject, its implementation is faced with various challenges During this research, we designed a controller for a soft robot that works on pneumatics. The design process begun with soft robot modelling to obtain a rough estimation on how the robot would respond. With a simple on-off control, the soft robot could be propelled with a peristaltic movement with the velocity of 0.063 mm/s on a horizontal surface and 0.027 mm/s on a plane with an inclination angle of 30°. We obtain some differences between the predicted values and the actual condition. However, the control system was still able to conduct locomotion even though there was a leakage at the robot. As a relatively new field of study, the writer hoped that this research may become the basis of a more accurate model for soft robots.