There are several requirements for the deformation of segments:

• An active forward motion must be realised while the segments are filled with liquid.
• The segment has to be able to work in pipes with variable diameters between 4 and 10 millimeters.
• During the deformation the internal canal has to be preserved at a sufficient diameter to insert the endoscopic tools.

The deformation of one segment is simulated by the Finite Element Method (FEM). Mooney Rivlin constitutive law is used to describe the mechanical behavior of silicone. A design with four individual pads allowing steering of PADeMIS is used.

The pressure - deformation characteristic of different designs demonstrates the feasibility. Now the length stretch and the synchronous diameter change have be optimised.

 

For questions or comments, please contact: pademis@tu-ilmenau.de