ArticleMicromachines2022
A Novel Inchworm-Inspired Soft Robotic Colonoscope Based on a Rubber Bellows.
Article in Micromachines, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed, 24 citations in OpenAlex.
- Force-differential steering of a track-based robotic colonoscope: experimental evaluation in single and multi-bend pipes.Frontiers in robotics and AI · 2026Article
- Fluid-structure dynamics of a vibro-impact capsule robot in multiphase intestinal environments.Nonlinear dynamics · 2026Article
- Fabrication of Soft Robotics by Additive Manufacturing: From Materials to Applications.Chemical reviews · 2025Review
- A soft robotic "Add-on" for colonoscopy: increasing safety and comfort through force monitoring.npj Robotics · 2025Article
- [Design and research of a pneumatic soft intestine robot imitating the inchworm].Sheng wu yi xue gong cheng xue za zhi = Journal of biomedical engineering = Shengwu yixue gongchengxue zazhi · 2024Article
- Editorial for the Special Issue on Flexible Sensors and Actuators for Biomedicine.Micromachines · 2023Article
- Actuation and design innovations in earthworm-inspired soft robots: A review.Frontiers in bioengineering and biotechnology · 2023Review
- Microrobots in Micromachines.Micromachines · 2022Article
- Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads.Micromachines · 2022Article
Corrections and comments
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Authors and funding
7 authors at 2 institutions in 1 country.
Funding
Abstract
Colorectal cancer is a serious threat to human health. Colonoscopy is the most effective procedure for the inspection of colorectal cancer. However, traditional colonoscopy may cause pain, which can lead to the patient's fear of colonoscopy. The use of active-motion colonoscopy robots is expected to replace traditional colonoscopy procedures for colorectal cancer screening, without causing pain to patients. This paper proposes an inchworm-like soft colonoscopy robot based on a rubber spring. The motion mechanism of the robot consists of two anchoring units and an elongation unit. The elongation unit of the robot is driven by 3 cables during contraction and by its inherent elasticity during extension. The balloon is selected as the anchoring mechanism of the robot. It has soft contact with the colon and will not damage the colon wall, which means no discomfort is caused. The elastic force test of the rubber spring shows that the elongation unit of the robot has sufficient restorative force to drive the robot to move forward and backward. The influence of the balloon's expansion size on the dexterity of the robot head is analyzed, and the functions of the balloons are expounded. The balloon can not only assist the robot in its locomotion but also assist the robot to perform a better inspection. The robot can move successfully in a horizontal, straight, and inclined isolated pig colon, showing great clinical application potential.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.