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Title: Development of a novel amphibious locomotion system for use in intra-luminal surgical procedures
Author: Mayfield, William Henry
ISNI:       0000 0004 5923 4434
Awarding Body: University of Leeds
Current Institution: University of Leeds
Date of Award: 2015
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The aim of this PhD study was to develop a locomotion system for use on a robotic device that can traverse a liquid filled colon for atraumatic inspection and biopsy tasks. The PhD was undertaken as part of a larger two-centre EU project, which aimed to bring about a change in the way colonoscopy is done by moving to “robotic hydro-colonoscopy”. Current colonoscopes have seen little change or innovation throughout their 40 years of use with patient discomfort still limiting success and adherence of the procedure. In this thesis the initial development and testing of an amphibious locomotion concept for use in a liquid filled colon during a procedure known as hydrocolonoscopy is described. The locomotion system is comprised of four Archimedes’ screws arranged in two counter rotating pairs. These aim to provide propulsion through a liquid filled colon as well as provide locomotive traction against colonic tissue in partially fluid filled or collapsed sections of the colon, such as the splenic flexure. Experimental studies were carried out on a single screw system in fluid and dual counter-rotating screws in contact conditions. These show the system’s ability to generate thrust in the two discrete modes of locomotion of the amphibious system. A 2:1 scale prototype of the proposed device was produced from multiple materials using additive layer manufacturing processes and commercially available components. The prototype features compliant screw threads to provide atraumatic locomotion; through material selection the components will yield before damage to tissue occurs. The scale prototype device was tested in an ex-vivo porcine colon which demonstrated that this concept has the potential to be used for an intra-luminal robotic device. The key contributions of this research are: variable geometry locomotion system; amphibious locomotion using Archimedes’ screws; experimental assessment of the locomotion in fluid, contact and amphibious states; and analysis of the contact dynamics against tissue.
Supervisor: Neville, Anne ; Culmer, Peter Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available