A self-propelled robotic colonoscope using elastic caterpillars

Previously developed colonoscopes have difficulties on performing diagnosis procedure since it can be performed by experienced endoscopists only to control the device efficiently. Therefore, in this paper, we presented a robotic colonoscope applying rotating elastic caterpillars, enabling self-locomotion in a colon efficiently. The locomotion performance of the robot is obtained by adopting a three-caterpillar-driving system and it can also center the robot in the colon well. Comparing with conventional colonoscope with stiff cable, the presented robot composed with thin-flexible electric wire, not to deform shape of colon. For preliminary test, we activated the robot in various radii of the acrylic pipes and a latex tube, and it has successfully moved through. Conclusively, forward and backward velocities in the ex vivo (or excised) pig colon having slope of 0 degrees were 1.7cm/s and 2.6cm/s, respectively. Similarly, it goes 2.0cm/s and 2.9cm/s respectively in the slope of 40 degrees.