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Design and preliminary evaluation of a self-steering, pneumatically driven colonoscopy robot.

Hossein Dehghani¹, C Ross Welch¹, Abolfazl Pourghodrat¹

¹a Department of Mechanical and Materials Engineering , University of Nebraska-Lincoln , Lincoln , NE , USA.

Journal of Medical Engineering & Technology

|January 27, 2017

Summary

This study introduces a novel semi-autonomous colonoscopic robot designed to reduce patient discomfort during colonoscopies. Its unique locomotion system minimizes invasiveness and prevents loop formation, showing promise in preliminary experiments.

Keywords:

Fluid power minimally invasive therapy robotic colonoscopy semi-autonomous navigation

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Area of Science:

Biomedical Engineering
Robotics
Gastroenterology

Background:

Colonoscopy is vital for detecting colon cancer but causes patient pain due to invasive mechanics.
Current colonoscopy techniques can lead to loop formation, exacerbating patient discomfort.

Purpose of the Study:

To develop a semi-autonomous colonoscopic robot with minimally invasive locomotion.
To reduce pain and invasiveness associated with traditional colonoscopy procedures.

Main Methods:

Development of a soft, compliant robotic system utilizing longitudinal tube expansion for propulsion.
Preliminary ex vivo testing in a porcine colon model.

Main Results:

The robot successfully navigated 1.5 meters in a porcine colon at 28 mm/s.
Traversed bends up to 150 degrees with low tip force (<6 N, <44.17 mmHg).
The design inherently prevents loop formation, a key cause of procedural pain.

Conclusions:

The developed robotic colonoscopy system demonstrates significant potential for safer, less invasive procedures.
Further research will focus on autonomous control and in vivo experimentation.