Low cost soft endoscope robotic probe

Soft Robotics in Minimally Invasive Surgery

“…Manufacturing methods were the main problem in the fabrication of a low-cost elastomer endoscope. 24 The difficulty of demolding larger or more complex shapes can result in damage to the molded part and may require more complex molds. It has also been reported that achieving even thicknesses can be difficult, which is one of the issues caused by using 3D printed molds, as well as the ability to produce small enough molds and prevent them from melting during heating to cure the elastomer.…”

“…A specifically designed anchoring mechanism was developed on the design of an endoscope attachment in Stopforth et al ., 24 with the goal of realizing autonomous exploration of the colon. The hydraulically powered endoscope probe could align itself with the center of a tube, and an image processing system designed to find the center of the colon was developed.…”

“…There are a broad range of sensors that can be used for proprioception of soft robotic devices that do not significantly increase the stiffness, and they vary depending on the working principles or actuation methods that are being employed. Robots that are actuated using fluids may include pressure sensors, 23,24,39,40 although there is often difficulty relating internal pressure to bending angle, especially in the presence of external forces on the device.…”