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A Novel Inchworm-Inspired Soft Robotic Colonoscope Based on a Rubber Bellows
Jinyan Chen1, Jianlin Yang1, Feng Qian1
1State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China.
Micromachines
|April 23, 2022
Summary
A new soft colonoscopy robot uses an inchworm-like mechanism to move through the colon. This pain-free device offers a promising alternative for colorectal cancer screening, potentially reducing patient anxiety.
Area of Science:
- Biomedical Engineering
- Robotics
- Gastroenterology
Background:
- Colorectal cancer poses a significant health risk.
- Traditional colonoscopy, while effective for inspection, can cause pain and patient apprehension.
- Active-motion colonoscopy robots offer a potential solution for pain-free colorectal cancer screening.
Purpose of the Study:
- To propose and evaluate an inchworm-like soft colonoscopy robot.
- To develop a pain-free alternative to traditional colonoscopy for colorectal cancer screening.
- To assess the robot's locomotion, anchoring, and inspection capabilities.
Main Methods:
- Design of an inchworm-like soft robot utilizing a rubber spring.
- Implementation of a motion mechanism with two anchoring units and an elongation unit.
- Utilizing balloons as soft, non-damaging anchoring mechanisms.
- Testing the robot's movement in isolated pig colons (horizontal, straight, inclined).
Main Results:
- The robot's elongation unit, driven by cables and elastic extension, demonstrated sufficient force for locomotion.
- Balloon anchoring provided soft contact, preventing colon wall damage and ensuring patient comfort.
- Analysis confirmed the influence of balloon expansion on robot head dexterity.
- Successful locomotion was achieved in various isolated pig colon configurations.
Conclusions:
- The proposed soft colonoscopy robot demonstrates effective and pain-free locomotion.
- The balloon-assisted mechanism enhances both movement and inspection capabilities.
- This technology shows significant potential for clinical application in colorectal cancer screening.
