Ingestible, controllable, and degradable origami robot for patching stomach wounds
Shuhei Miyashita, Steven Guitron, Kazuhiro Yoshida, Shuguang Li, Dana D. Damian, Daniela Rus
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 this 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.
BibTeX
@inproceedings{icra2016_ingestiblecontro,
title = {Ingestible, controllable, and degradable origami robot for patching stomach wounds},
author = {Shuhei Miyashita and Steven Guitron and Kazuhiro Yoshida and Shuguang Li and Dana D. Damian and Daniela Rus},
booktitle = {ICRA 2016},
year = {2016}
}