公开(公告)号：US20160346514A1

公开(公告)日：2016-12-01

申请号：US15218025

申请日：2016-07-24

Applicant: Technion Research and Development Foundation Ltd.

Inventor： Daniel GLOZMAN ,  Noam HASSIDOV ,  Moshe SHOHAM

IPC: A61M25/01 ,  F16L55/34 ,  F16L55/44 ,  A61B1/00

CPC classification number: A61M25/0155 ,  A61B1/00082 ,  A61B1/00156 ,  A61B1/31 ,  A61B17/12045 ,  A61B17/12136 ,  A61M25/0105 ,  A61M25/0116 ,  A61M25/10 ,  A61M2025/1059 ,  F16L55/30 ,  F16L55/34 ,  F16L55/36 ,  F16L55/44

Abstract: A self-propelled device for locomotion through a lumen, comprising a set of serially arranged inflatable chambers, adjacent chambers being fluidly connected, and a fluid source attached to one end of the set, such that the chambers inflate sequentially. The chambers are constructed of an elastic material and have a wall thickness and dimensions such that they have a characteristic with a non-monotonous relationship between the inflation pressure within the chamber and the chamber's inflated size. The characteristic is such that after an initial inflation pressure peak, the non-monotonous relationship adopts a negative slope, such that the volume of the chamber increases more rapidly than the volume of fluid flowing into it, and the inflation pressure of the chamber falls. This effect causes the chamber to inflate and anchor rapidly, while essentially slowing down the inflation of the succeeding chamber until inflation of the first is complete.

Abstract translation: 一种用于通过内腔运动的自推进装置，包括一组串联布置的可充气腔室，相邻腔室被流体连接，以及连接到该组件一端的流体源，使得腔室依次充气。 这些室由弹性材料构成，具有壁厚和尺寸，使得它们具有在室内的充气压力和室的膨胀尺寸之间具有非单调关系的特征。 特征是在初始充气压力峰值之后，非单调关系采用负斜率，使得室的体积比流入其中的流体体积更快地增加，并且室的充气压力下降。 这种效应导致舱室迅速膨胀和锚固，同时基本上减缓了随后的舱室的通胀，直到第一次的通风完成。