Adaptable, shape-conforming robotic endoscope
Jiayang Du, Lin Cao, Sanja Dogramazi

TL;DR
This paper presents a size-adaptable robotic endoscope with an expansion mechanism that improves stability and propulsion in colonoscopy by conforming to different pipe sizes, enhancing patient comfort and procedure efficiency.
Contribution
The paper introduces a novel shape-conforming robotic endoscope with an integrated expansion mechanism, enabling adaptive size adjustment for improved propulsion and stability during colonoscopy.
Findings
Flexible bellows provide 3.89 N normal force and 10mm axial deformation.
Prototype achieves a maximum linear speed of 29.29 m/s.
Effective propulsion demonstrated across different pipe sizes.
Abstract
This paper introduces a size-adaptable robotic endoscope design, which aims to improve the efficiency and comfort of colonoscopy. The robotic endoscope proposed in this paper combines the expansion mechanism and the external drive system, which can adjust the shape according to the different pipe diameters, thus improving the stability and propulsion force during propulsion. As an actuator in the expansion mechanism, flexible bellows can provide a normal force of 3.89 N and an axial deformation of nearly 10mm at the maximum pressure, with a 53% expansion rate in the size of expandable tip. In the test of the locomotion performance of the prototype, we obtained the relationship with the propelling of the prototype by changing the friction coefficient of the pipe and the motor angular velocity. In the experiment with artificial bowel tissues, the prototype can generate a propelling force…
Peer Reviews
No public reviews on file for this paper yet. If you reviewed it on a platform where reviews are public (OpenReview, ICLR, NeurIPS, ICML), you can paste yours below so the community can read it here.
Videos
No videos yet. Explain this paper in a talk, walkthrough, or lecture? Add one.
Taxonomy
TopicsSoft Robotics and Applications
