Robotic solutions and mechanisms for a semi-autonomous endoscope

In this paper the authors illustrate the development of a semi-autonomous robot for colonoscopy. In particular they focus on two problems: the generation of an effective and reliable advancement in the colon, and the possibility to steer the robot in order to overcome acute intestinal bends. Both problems are present also during traditional colonoscopy, but they can be solved with an external pushing action produced by the endoscopist. The main feature of this work is the attempt to replicate the effects of external forces (generated by the medical doctors) by using just internal actions (generated by the robotic devices). The robotic solutions and the mechanisms illustrated in this paper could be in principle integrated in an "all inside" device, with electrical wires and service tubes, but without structural cables or rigid tails which are currently used for the advancement and orientation of traditional colonoscopes.