DESIGN AND MANUFACTURE SOFT ROBOT TWISTING LOCOMOSION FOR COLONOSCOPY DEVELOPMENT

• Main Author: Aulia Rahman, Dimas
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/71974
• Institution: Institut Teknologi Bandung

Colonoscopy is an important procedure for diagnosing tumors in the colon. The conventional colonoscopy instrument that is commonly used today has a slender but hard shaft, which is used by being pushed into the anus, causing pain and discomfort. Based on this background, soft robots are the most promising option for development in colonoscopy, because they are soft and able to adjust to the surface to be traversed and are safe to contact with the walls of the large intestine. There are several locomotions used in moving the robot in the colon, which is generally divided into two, namely animal locomotion and mechanical locomotion. However, there is still little development regarding twisting locomotion. Currently, no one has reportedly used this type of locomotion for colonoscopy, therefore this study aimed to develop the motion of twisting locomotion for colonoscopy. Based on the research that has been done, it can be concluded that the author succeeded in making an actuator that rotates with an increase in length. From the tests carried out, it was found that the actuator can twist with a maximum twist of 56,3°±7,8° at a pressure of 0,06 bar and the twist angle in the opposite direction has a maximum value of -23,7°±5,7° at a pressure of –0,05 bar. In addition, a maximum length increase of 21%±6%, while the smallest shrinkage is 6% ±6%. Error is equal to 3? value. Based on the tests that have been carried out, it is also known that by the locomotion movement with one cycle, the robot can move an average of as far as 0,71 cm.