A Soft Growing Robotic Endoscope for Painless and Strain-Free Insertion.

Area of Science:

• Medical robotics
• Gastrointestinal endoscopy
• Soft robotics

Background:

• Vine robots show promise for confined environments but face challenges in colonoscopy, including stiffness, steering, sensor integration, and retraction.
• Existing vine robot designs struggle with colon compliance, safe tethered sensor use, and effective navigation.

Purpose of the Study:

• To develop a novel soft robotic endoscope addressing key limitations of vine robots for colonoscopy.
• To enhance patient comfort, procedural efficiency, and physician ease during colonoscopies.

Main Methods:

• A novel soft robotic endoscope utilizing an optimized eversion mechanism for low stiffness and colon compliance.
• Integration of a passive tethered camera stabilization system for real-time imaging.
• Inclusion of fabric pneumatic artificial muscles for two-degree-of-freedom active steering.
• Development of a non-sealed, self-retractable mechanism for safe retraction without buckling.

Main Results:

• The soft growing endoscope (SGE) demonstrated low stiffness and compliance, minimizing bowel distension.
• Real-time imaging was maintained with a passively stabilized tethered camera.
• The device achieved precise navigation through complex pathways via active steering.
• Safe, buckling-free retraction was confirmed, even with an embedded tethered sensor.
• Phantom studies showed an 80% reduction in mesentery extension compared to conventional endoscopes.
• In vivo trials showed the SGE reaching the ileocecal valve in 2 minutes with intact imaging and retraction.

Conclusions:

• The developed soft growing endoscope effectively overcomes major challenges in adapting vine robots for colonoscopy.
• This SGE offers a minimally invasive, safer, and more effective colonoscopy solution.
• The device enhances patient comfort, procedural efficiency, and reduces physician strain.