Pressure Modulation Improves Locomotion of an Expanding Robot for Colonoscopy

Abstract Colonoscopy plays a pivotal role in early colorectal disease detection. It is hindered by procedural difficulties such as friction between colonoscope and colon wall as well as maneuverability issues. Expanding robots offer a promising alternative, aiming for a reduced risk of tissue damage and reduced forces between colononscope and tissue. In this paper, the usage of expanding locomotion for colonoscopy is investigated to address technical challenges. Preliminary tests on a custom-designed test rig demonstrate the potential of intermitted advancement and retraction modes to overcome challenges such as the difference in pathlength of robot body and working channel as well as the typical buckling during retraction of expanding robots. Future research will focus on refining control systems based on sensor feedback and evaluating additional parameters for clinical application.