Full-driving soft robotic colonoscope in compliant colon tissue |
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| Authors: | Kundong Wang Jiayi Ma Feng Wang Zhiwu Wang Guozheng Yan Yilu Zhou |
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| Institution: | 1. Department of Instrument Engineering, Shanghai Jiao Tong University, Shanghai, China;2. Department of General Practice, School of Public Health, Shanghai University of Traditional Chinese Medicine, Shanghai, China |
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| Abstract: | Robotic colonoscopy is an efficient examination method for finding malignant tumour in its early stage. This research developed a novel robotic endoscope with 13?mm diameter, 105?mm length and 22.3?g weight. A contact biomechanical model is proposed to increase the locomotion safety and efficiency in the soft tissue. The model shows that the friction difference between the robot and the tissue is a key factor to locomotion capability. A soft, full bellow with excellent compatibility was designed to package the robot body. The bellow increased the static friction and decreased the kinetic friction given the change in the contact state. The bellow is divided into three segments. Each segment is composed of a linear locomotor with micromotor, turbine-worm and wire wrapping–sliding mechanism. The robot is tested in in vivo pig colon, which revealed an excellent locomotion capability and safety in soft tissues. |
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| Keywords: | Squirm robot robotic colonoscopy full bellow skin earthworm like in vivo experiment |
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