Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds
Name
201605ICRA_MiyashitaEtAl_Preprint.pdf
Size
2.01 MB
Format
Adobe PDF
Checksum (MD5)
415c6fa7570230f59f4602de56b5406c
Author(s)
Shuhei, Miyashita
Guitron, Steven P.
Yoshida, Kazuhiro
Li, Shuguang
Damian, Dana D.
Rus, Daniela L.
Date Issued
May 2016
Journal
Proceedings of the 2016 IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Shuhei, Miyashita, Steven Guitron, Kazuhiro Yoshida, Shuguang Li, Dana D. Damian, and Daniela Rus. "Ingestible, Controllable, and Degradable Origami Robot for Patching Stomach Wounds." 2016 IEEE International Conference on Robotics and Automation (May 2016).
Version
Author's final manuscript
Abstract
Developing miniature robots that can carry out versatile clinical procedures inside the body under the remote instructions of medical professionals has been a long time challenge. In his paper, we present origami-based robots that can be ingested into the stomach, locomote to a desired location, patch a wound, remove a foreign body, deliver drugs, and biodegrade. We designed and fabricated composite material sheets for a biocompatible and biodegradable robot that can be encapsulated in ice for delivery through the esophagus, embed a drug layer that is passively released to a wounded area, and be remotely controlled to carry out underwater maneuvers specific to the tasks using magnetic fields. The performances of the robots are demonstrated in a simulated physical environment consisting of an esophagus and stomach with properties similar to the biological organs.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://ras.papercept.net/conferences/conferences/ICRA16/program/ICRA16_ContentListWeb_2.html#tubbt3_01
