Robotic device
The present invention provides a robotic locomotive device ( 1 ) that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure ( 200 ), for example, the human colon, or any structure comprising two opposing walls ( 202, 204 ). In this respect, the device is made up of two or three segments ( 102, 104, 106 ) covered in an elastic material and driven by an internal actuating mechanism. All of the segments ( 102, 104, 106 ) have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments ( 102, 106 ) is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls ( 202, 204 ) of the tubular structure ( 200 ). That is, the end segments ( 102, 106 ) are capable of both a bending action and a contracting and extending action. The device ( 1 ) moves by alternately jamming a segment ( 102, 104, 106 ) between the walls ( 202, 204 ) of the tubular structure ( 200 ), and then contracting or extending the segments ( 102, 104, 106 ) to inch the device ( 1 ) forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.
1. A locomotive device, the device having an elongate body comprising a plurality of segments, wherein a segment comprises:
a flexible body;
a plurality of actuation chambers each extending along the length of the flexible body, wherein the plurality of actuation chambers are configured to be actuated by means of a fluid to thereby cause the flexible body to contract and extend along the longitudinal axis of the device and/or bend at an angle to the longitudinal axis of the device; and
a plurality of conduits each extending along the length of the flexible body, wherein the plurality of actuation chambers and the plurality of conduits are distinct from one another, the plurality of conduits each comprising an internal reinforcement means, wherein the internal reinforcement means are configured to constrain lateral expansion of the plurality of actuation chambers as fluid is received thereto, wherein the radial stiffness of the internal reinforcement means is such that radial expansion of each of the plurality of actuation chambers is constrained, such that the effect of actuation of a first actuation chamber of the plurality of actuation chambers has on a second actuation chamber of the plurality of actuation chambers is limited.
2. A device according to claim 1 , wherein the flexible body is enclosed in an external reinforcement means configured to constrain lateral expansion of the plurality of actuation chambers as fluid is received thereto, wherein the radial stiffness of the external reinforcement means is such that radial expansion of the plurality of actuation chambers is constrained.
3. A device according to claim 1 , further comprising an outer sleeve encasing the plurality of segments configured in use to increase friction in either a first direction or both the first direction and a second opposing direction along the longitudinal axis of the device.
4. A device according to claim 3 , wherein a surface of the outer sleeve comprises a plurality of fish scale or cilia-like projections moveable between a first position and a second position, wherein the first position comprises the plurality of fish scale or cilia-like projections being substantially parallel to the longitudinal axis of the device, and wherein the second position comprises the plurality of fish scale or cilia-like projections being substantially perpendicular to the longitudinal axis of the device.
5. A device according to claim 1 , wherein the device is an endoscope.