A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy

Area of Science:

• Robotics
• Medical Devices
• Gastroenterology

Background:

• Colonoscopy presents design challenges due to the colon's confined, slippery, and tortuous anatomy.
• Existing endoscopic robots risk damaging the colonic wall and causing patient discomfort.

Purpose of the Study:

• To develop a novel soft robotic mini-robot for colonoscopy that enhances patient safety and procedural efficiency.
• To investigate a bio-inspired locomotion mechanism for navigating the complex colonic environment.

Main Methods:

• A Soft Pneumatic Inchworm Double balloon (SPID) mini-robot was designed, featuring two balloons and a 3-DOF soft pneumatic actuator.
• The mini-robot, with an 18mm diameter, 60mm length, and 10g weight, utilizes balloon anchorage for inchworm locomotion.
• The device was tested in a deformable plastic colon phantom simulating human anatomy.

Main Results:

• The SPID mini-robot demonstrated efficient locomotion and the ability to deform and navigate bends in the colon phantom.
• The design effectively reduces pressure on the colonic wall, mitigating potential pain and discomfort.
• The robot is constructed from elastomer and 3D printed components, indicating low production costs.

Conclusions:

• The SPID mini-robot presents a promising solution for safer and more comfortable colonoscopies.
• Its soft, compliant design and bio-inspired locomotion are well-suited for navigating the human colon.
• Low-cost, disposable robotic endoscopes could become feasible with this technology.