Design of a Soft Bio-Inspired Tissue Transport Mechanism

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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.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Soft Robotics, RoboSoft 2023
Number of pages6
ISBN (Electronic)9798350332223
Publication statusPublished - 2023
EventIEEE International Conference on Soft Robotics, RoboSoft 2023 - Singapore
Duration: 3 Apr 20237 Apr 2023


ConferenceIEEE International Conference on Soft Robotics, RoboSoft 2023
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Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


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