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.

As an irreplaceable element for obtaining airflow information in many engineering scenarios, airflow sensors have gained increasing attention across the fields of aerospace engineering, environmental engineering, sustainable energy exploitation, meteorology research, and so on. As one of the mainstream airflow sensing principles, piezoresistive airflow velocity sensors have experienced rapid growth over the years, while effective vector airflow sensors with the ability of detecting both airflow velocity and direction based on the piezoresistive principle are scarce. Here, on the basis of our developed piezoresistive airflow velocity sensors based on pressure loading mode, we design an array of these sensors and propose a corresponding explicit algorithm for simultaneous detection of airflow velocity and direction. This sensor array configuration enables an automatic recognition function of the quadrant of incoming airflow, which can significantly simplify the reverse calculation of airflow information compared with conventional vector airflow sensors. The experimental results demonstrate the decent performance of this sensor array for identifying both airflow velocity and direction. This study not only fills the gap between our developed airflow velocity sensor and the ability of detecting airflow direction but also presents a simple and universal array-based strategy for vector airflow sensing, which could be widely applied in airflow sensors based on other principles.

Images taken by an endoscope in single-port-access surgery are the most important information for directing surgeons to operate, so acquiring images taken at better position and a more desired perspective has profound significance for improving the efficiency and safety of surgery. The magnetically anchored laparoscope can help to realize this goal compared with the traditional laparoscope used in single-port-access surgery. In this paper, we propose the concept of applying ultrasonic motors in the magnetically anchored laparoscope. Two types of ultrasonic motors used for driving the laparoscope, namely a miniature traveling wave-rotating ultrasonic motor and a miniature traveling wave-tilt ultrasonic motor, are designed. The prototype of the magnetically anchored laparoscope using these two types of ultrasonic motors is fabricated and evaluated by experiments. The results show that the maximum output torque of the miniature traveling wave-rotating ultrasonic motor is 1.2 mN·m, and that of the miniature traveling wave-tilt ultrasonic motor is 1.4 mN·m, which is enough to actuate the magnetically anchored laparoscope. Additionally, it is proven that the two designed ultrasonic motors can be applied successfully in the laparoscope.