# Design and preliminary evaluation of a track-based robotic colonoscope with a shape-adaptable tip for propulsion

## TL;DR

This paper presents a robotic colonoscope with a flexible tip that adapts to colon size, enabling smooth propulsion during endoscopic procedures.

## Contribution

A novel robotic colonoscope design with a shape-adaptable tip for propulsion and adjustable size to match colon diameters.

## Key findings

- The prototype achieved a 53% expansion rate in tip size to adapt to varying colon diameters.
- It generated a propulsion force of 2.83 N and a maximum linear speed of 29.29 mm/s on artificial tissue surfaces.
- The device demonstrated effective propulsion through pipes of different diameters.

## Abstract

This paper introduces a shape-adaptable robotic endoscope design, which combines an expansion mechanism and external drive system that provide tip insertion force and adjust the tip shape and size to different colon diameters. Expansion rate of 53% has been achieved in the expandable tip size, which corresponds to changes in the colon diameter. We tested the prototype locomotion in a pipe with different friction surface layers, including artificial bowel tissues, to assess propulsion force and normal force on the colon that can be achieved with the current design. The prototype can generate a propulsion force of 2.83 N, and the maximum linear speed of 29.29 mm/s on the artificial tissue surface. It can produce effective propulsion when it passes through pipes of different diameters. The results demonstrate the prototype’s ability for shape adaptation that maintains the required traction force on the bowel wall.