Bio-Inspired Pupal-Mode Actuator with Ultra-Crossing Capability for Soft Robots

Robot-assisted Natural Orifice Translu- minal Endoscopic Surgery (NOTES) represents a paradigm shift in surgical practice, significantly mini- mizing patient morbidity. However, the variability of inner diameter and the inter-luminal crossing within the luminal tracts lead to challenge for effective robotic intervention. Inspired by the motion of the chrysalis during its transformation, we designed an innovative pupal-mode actuator for NOTES robots. Through the manipulation of its internal air cham- bers, this actuator is capable of replicating wriggle- like movements. Through experimental analysis, we have acquired the constitutive characteristics of this actuator. Subsequently, an innovative gastric en- doscopy robot is developed base the actuator and tested in a phantom. The results of the task simula- tions substantiate that the pupal-mode actuator has the capability to reduce resistance and enhance the safety of the endoscopic intervention.