Elastic mesh braided worm robot for locomotive endoscopy

Area of Science:

• Biomedical Engineering
• Robotics
• Biomimetics

Background:

• Minimally invasive inspection of internal human body passages is crucial for diagnostics.
• Existing endoscopic tools can be rigid and cause patient discomfort or tissue trauma.
• Bio-inspired designs offer potential for more adaptable and gentle internal navigation.

Purpose of the Study:

• To design and fabricate a novel worm robot for internal body inspection.
• To mimic earthworm locomotion (peristalsis) for controlled movement within natural orifices.
• To evaluate the robot's locomotive capabilities and potential for minimally invasive procedures.

Main Methods:

• A novel crimped elastic mesh braid was developed for the robot's body, inspired by earthworm anatomy.
• The robot's control system imitates peristalsis for locomotion.
• Locomotion tests were conducted on a flat surface and within a rubber tube to simulate natural passages.

Main Results:

• The worm robot successfully demonstrated forward locomotion on both flat and tubular surfaces.
• The movement pattern closely resembled natural earthworm propagation.
• The peristaltic motion control proved effective in generating forward movement.

Conclusions:

• The novel worm robot design shows significant promise for minimally invasive inspection of natural body tubes such as the colon and esophagus.
• The bio-inspired peristaltic locomotion minimizes trauma to biological tissues.
• This robotic system offers a new approach for safer and more effective internal diagnostics.