Autonomous and Reversible Adhesion Using Elastomeric Suction Cups for In-Vivo Medical Treatments

Haruna Iwasaki*, Flavien Lefevre, Dana D. Damian, Eiji Iwase, Shuhei Miyashita

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


Remotely controllable and reversible adhesion is highly desirable for surgical operations: it can provide the possibility of non-invasive surgery, flexibility in fixing a patch and surgical manipulation via sticking. In our previous work, we developed a remotely controllable, ingestible, and deployable pill for use as a patch in the human stomach. In this study, we focus on magnetically facilitated reversible adhesion and develop a suction-based adhesive mechanism as a solution for non-invasive and autonomous adhesion of patches. We present the design, model, and fabrication of a magnet-embedded elastomeric suction cup. The suction cup can be localised, navigated, and activated or deactivated in an autonomous way; all realised magnetically with a pre-programmed fashion. The use of the adhesion mechanism is demonstrated for anchoring and carrying, for patching an internal organ surface and for an object removal, respectively.

Original languageEnglish
Article number8977313
Pages (from-to)2015-2022
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number2
Publication statusPublished - 2020 Apr


  • Soft robot applications
  • and suction cups
  • medical robots and systems
  • reversible adhesion
  • wet adhesion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Biomedical Engineering
  • Human-Computer Interaction
  • Mechanical Engineering
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Control and Optimization
  • Artificial Intelligence


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