Modeling of Everted Tubes for Medical Applications

Abstract

Everting tube robots are a type of growing soft robot that easily navigate arbitrary and constricted environments. Since they grow from the tip, everting tube robots are also called vine robots, and this tip-wise growth means that the body of the robot does not slide against the environment during growth. Since they can grow into constricted areas without sliding, they are very promising as for medical applications where they can gain access to the body through natural orifices, which can often be sensitive to sliding and may require extensive expertise to access with traditional methods. This dissertation investigates two major challenges encountered during the design of everting tube robots and details the design process of an everting tube robot for emergency scenarios. Chapter one introduces a simple mechanism for improving the estimation accuracy of dynamic tube growth. The second chapter proposes a method for understanding the friction forces between an everting tube and a tool placed through its central channel, such as a flexible endoscope. The final chapter delves into the development of an everting Emergency Airway Device (EAD). This devices leverages mechanical intelligence to allow for minimally trained bystanders to establish an airway, which is critical for survival in emergencies like cardiac arrest and trauma.