A bio-inspired self-propelling endoscopic device for inspecting the large intestine

Chen, Zhiwei; Liu, Jianbin; Wang, Shuxin; Zuo, Siyang

doi:10.1088/1748-3190/ab45c9

Cited by 12 publications

(4 citation statements)

References 21 publications

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“…The unactuated device is 22 mm in diameter. The robot travelled at 1 mm/s and was able to clearly visualise the colonic mucosa[ 45 ].…”

Section: Resultsmentioning

confidence: 99%

Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review

Singh¹,

Armstrong²,

Shah³

et al. 2021

WJGE

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BACKGROUND Conventional optical colonoscopy is considered the gold standard investigation for colorectal tract pathology including colorectal malignancy, polyps and inflammatory bowel disease. Inherent limitations exist with current generation endoscopic technologies, including, but not limited to, patient discomfort, endoscopist fatigue, narrow field of view and missed pathology behind colonic folds. Rapid developments in medical robotics have led to the emergence of a variety of next-generation robotically-augmented technologies that could overcome these limitations. AIM To provide a comprehensive summary of recent developments in the application of robotics in lower gastrointestinal tract endoscopy. METHODS A systematic review of the literature was performed from January 1, 2000 to the January 7, 2021 using EMBASE, MEDLINE and Cochrane databases. Studies reporting data on the use of robotic technology in ex vivo or in vivo animal and human experiments were included. In vitro studies (studies using synthetic colon models), studies evaluating non-robotic technology, robotic technology aimed at the upper gastrointestinal tract or paediatric endoscopy were excluded. System ergonomics, safety, visualisation, and diagnostic/therapeutic capabilities were assessed. RESULTS Initial literature searching identified 814 potentially eligible studies, from which 37 were deemed suitable for inclusion. Included studies were classified according to the actuation modality of the robotic device(s) as electromechanical (EM) ( n = 13), pneumatic ( n = 11), hydraulic ( n = 1), magnetic ( n = 10) and hybrid ( n = 2) mechanisms. Five devices have been approved by the Food and Drug Administration, however most of the technologies reviewed remain in the early phases of testing and development. Level 1 evidence is lacking at present, but early reports suggest that these technologies may be associated with improved pain and safety. The reviewed devices appear to be ergonomically capable and efficient though to date no reports have convincingly shown diagnostic or therapeutic superiority over conventional colonoscopy. CONCLUSION Significant progress in robotic colonoscopy has been made over the last couple of decades. Improvements in design together with the integration of semi-autonomous and autonomous systems over the next decade will potentially result in robotic colonoscopy becoming more commonplace.

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“…The unactuated device is 22 mm in diameter. The robot travelled at 1 mm/s and was able to clearly visualise the colonic mucosa[ 45 ].…”

Section: Resultsmentioning

confidence: 99%

Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review

Singh¹,

Armstrong²,

Shah³

et al. 2021

WJGE

View full text Add to dashboard Cite

show abstract

“…The robotic device is remotely controlled by a hand-held interface. A study with 40 [10,[13][14][15][16][17].…”

Section: Insect-inspired Robot Designsmentioning

confidence: 99%

A review of bioinspired locomotion in lower GI endoscopy

Ahmed,

Franco,

Rodriguez Y. Baena

et al. 2024

Robotica

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Flexible endoscopy is the gold standard modality for diagnosis and therapeutic intervention of various colorectal conditions. A high bar is currently set for any new technology to replace the current modern colonoscope, but limitations do exist. For a robotic system to gain acceptance, ideally a clear advantage over the established standard needs to be demonstrated. The application of robotic technology inspired by locomotion observed in animals has been demonstrated in many fields including colonoscopy. A myriad of novel concepts has been proposed, which can overcome the anatomical and technical challenges. This review discusses novel and innovative examples of bioinspired robotic locomotion in the colon with a detailed comparison of studies alongside separating the discussion by animal sections of insect, marine and reptile locomotion. We also discuss the current advantages and challenges a bioinspired robot will bring to the colon. Bioinspired robotics in the colon is an exciting field of research with the potential to improve upon current existing high standards of practice in colonoscopy. By addressing areas that the conventional colonoscope is weaker in, studies are demonstrating improvement upon current limitations of standard practice and providing an insight into new methods of engineering and fabrication. Focus on the technological, mechanical and regulatory barriers is key to achieve acceptance into standard practice and will allow the aspiration of a safe, low discomfort, low cost and potentially fully autonomous robotic colonoscope to be not too distant in the future of colonoscopy.

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“…In view of the above problems, many research institutions in the world have carried out innovative colon inspection research, and the research focus is mainly on the new active motion endoscope and intelligent diagnosis. Especially the former, a lot of useful modes of motion have been carried out, such as caterpillar track or wheel type [4][5][6][7][8][9], legged type [10][11], barb type [12][13][14], inchworm type [15][16][17][18][19][20], peristaltic type [21][22] and other methods [23][24][25][26]. However, due to the difficulty of miniaturization design and harsh application situation, there is no active-locomotion endoscopy in clinical application.…”

Section: Introductionmentioning

confidence: 99%

A Novel Airbag Aided Differential-drive Capsule Robot Towards Colonoscopy

Yang

Sun

2022

Preprint

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Colorectal cancer is the third most common cancer in the world, which is a serious threat to human health. Endoscopy is the most effective way to screen colorectal cancer. However, it is very difficult to design a robot that can move in a complex colon. Soft robots can adapt to a variety of unstructured environments, and their interaction with humans is more secure. This paper presents a novel differential-drive caterpillar-based robot for colonoscopy, which is expanded by an airbag. Combining the advantages of the soft robot and the wheeled robot, the robot has both the flexibility of the former and the rapidity of the latter. The size of the robot in the contraction state is only ϕ28mm × 35mm and the length of traction module is only 28mm. The robot can be expanded to a diameter of 50mm and has a maximum speed of 5mm/s. The design concept of the robot and its traction module are described in detail. To ensure the stable movement of robot, the controlled output force of the robot caterpillar track is tested by experiments. In addition, the robot is placed in a curved bellow to move, and its motion validity is verified.

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A bio-inspired self-propelling endoscopic device for inspecting the large intestine

Cited by 12 publications

References 21 publications

Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review

Application of robotic technologies in lower gastrointestinal tract endoscopy: A systematic review

A review of bioinspired locomotion in lower GI endoscopy

A Novel Airbag Aided Differential-drive Capsule Robot Towards Colonoscopy

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