DESIGN AND BUILD A SOFT ROBOTIC ENDOSCOPE WITH PERISTALTIC MOTION MECHANISM

• Main Author: Josua Simanullang, Andi
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/62097
• Institution: Institut Teknologi Bandung

In the health sector, a medical professional often encounters patients with difficult-to-diagnose diseases. Some of these diseases are difficult to diagnose if you do not use adequate tools, because the source of the pain comes from internal organs. One way that can be used is Magnetic Resonance Imaging (MRI). However, the use of Magnetic Resonance Imaging (MRI) to diagnose symptoms of disease in internal organs also has limitations. One of the tools that are now helping medical personnel in conducting examinations into the internal organs of the human body is an endoscope. However, the use of conventional endoscopes that are widely used today still causes discomfort and can even cause injury to the patient's body tissues. This is because the material of the endoscope tends to have a higher rigidity than human tissue. In addition, conventional endoscopes still have a limited range in examining internal organs. In this undergraduate final project report, a soft robotic endoscope with peristaltic motion mechanism is developed. The material used to make the soft robot is Ecoflex®-30. The manufacturing process carried out during the process of this research is 3D-printing and also molding. The soft robot will be moved using pressure sourced from the pneumatic system. In this research, a soft endoscope robot with peristaltic motion mechanism was produced. The soft robot can move at a speed of 0.091 mm/second in a horizontal test environment and 0.027 mm/second in a test environment with a slope of 30o.