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Related Experiment Video

Updated: Jan 21, 2026

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots
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A Soft Pneumatic Inchworm Double balloon (SPID) for colonoscopy.

Luigi Manfredi1, Elisabetta Capoccia2, Gastone Ciuti3

  • 1Institute for Medical Science and Technology (IMSaT), Division of Imaging and Technology, School of Medicine, University of Dundee, Dundee, DD2 1FD, UK. mail@luigimanfredi.com.

Scientific Reports
|August 2, 2019
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Summary

A novel Soft Pneumatic Inchworm Double balloon (SPID) mini-robot offers a safer colonoscopy. This soft robotic device minimizes colonic wall pressure, reducing patient pain and discomfort during endoscopic procedures.

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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.