Proof of Concept of a Novel Growing Soft Robot for Colonoscopy

Colonoscopy is considered to be the gold standard for the detection of colorectal polyps and other colonic disease. In this study, a novel growing soft-continuum robot is presented as a proof of concept for a potential colonoscopy application. Compared to the state-of-the- art systems such as the ColonoSight system [1] using an inflated balloon attached over the colonoscope shaft, or Neoguide [2] actuated via electromechanical actu- ators, the proposed architecture utilizes the advantage of pneumatic propulsion as well as allowing control in three degrees of freedom. The growing robot concept pushes the end effector from the tip and prevents loss in propulsion force at the tip that results a lower mechanical forcing on the colon. Since the actuation is performed pneumatically and controlled via electromechanical in- terface, there is no need for users to apply high forces for pushing/pulling to progress and maneuver the robot.