An elastic caterpillar-based self-propelled robotic colonoscope with high safety and mobility

Mechatronics ◽  
2016 ◽  
Vol 39 ◽  
pp. 54-62 ◽  
Author(s):  
Dongkyu Lee ◽  
Seonggun Joe ◽  
Junwoo Choi ◽  
Bo-In Lee ◽  
Byungkyu Kim
Keyword(s):  
Robotic Colonoscope

A simple and reliable reel mechanism-based robotic colonoscope for high mobility

2017 ◽  
Vol 232 (16) ◽  
pp. 2753-2763 ◽  
Author(s):  
Dongkyu Lee ◽  
Seonggun Joe ◽  
Jae-Hoon Jung ◽  
Jong-Uk Kim ◽  
Byungkyu Kim
Keyword(s):  
Functional Limitations ◽  
High Capacity ◽  
High Mobility ◽  
In Vitro Test ◽  
Motor Speed ◽  
Capsule Endoscopes ◽  
Enhanced Mobility ◽  
Robotic Colonoscope ◽  
Reel Mechanism

Colonoscopes are one The first two authors contributed equally to this work of the best tools to detect colorectal cancer despite their several drawbacks. In order to solve the limitations of conventional colonoscopes and detect cancer more efficiently, robotic colonoscopes and capsule endoscopes have been proposed. However, active capsule endoscopes require expensive control systems, and they have functional limitations due to their small volumes. In addition, robotic colonoscopes fail to achieve sufficient mobility, resulting in longer colonoscopy times than with conventional colonoscopes. Therefore, the present study proposes a simple, reliable reel mechanism-based robotic colonoscope that achieves high mobility. Because the robot is operated by a reel with an external high-capacity motor, enhanced mobility is attained regardless of environment. Moreover, the proposed robotic colonoscope allows for the inclusion of an instrument channel, unlike previously reported robotic colonoscopes. A theoretical analysis is implemented to confirm the mobile performance. The analysis results are compared with the results of a locomotion test in a urethane tube (diameter = 28 mm). Ultimately, the robot achieves high mobility (66.04 ± 5.97 mm/s with a motor speed of 200 r/min), and the error between the theoretical and experimental results is less than 1%. Furthermore, an in-vitro test in an excised porcine colon is performed to verify the feasibility of the locomotion in a large intestine. In straight and sloping paths (30° and 45°), the robot travels at 21.11 ± 1.69 mm/s, 18.77 ± 3.42 mm/s, and 8.76 ± 1.68 mm/s, respectively, with a motor speed of 150 r/min. This is within the reliable operation range for colonoscopies.

Inchworm-Like Robotic Colonoscope UsingLegs for Clamping

2010 ◽  
Vol 34 (6) ◽  
pp. 789-795 ◽  
Author(s):  
Hyun-Jun Park ◽  
Sang-Hyuck Leem ◽  
Byung-Kyu Kim
Keyword(s):  
Robotic Colonoscope

DEVELOPMENT OF A ROBOTIC COLONOSCOPE

2000 ◽  
Vol 12 (2) ◽  
pp. 131-135 ◽  
Author(s):  
Wan Sing Ng ◽  
Soo Jay Phee ◽  
Choen Seow ◽  
Brian Lawrence Davies
Keyword(s):  
Robotic Colonoscope

Full-driving soft robotic colonoscope in compliant colon tissue

2017 ◽  
Vol 41 (8) ◽  
pp. 662-669 ◽  
Author(s):  
Kundong Wang ◽  
Jiayi Ma ◽  
Feng Wang ◽  
Zhiwu Wang ◽  
Guozheng Yan ◽  
...  
Keyword(s):  
Colon Tissue ◽  
Robotic Colonoscope

A robotic colonoscope with long stroke and reliable leg clamping

2012 ◽  
Vol 13 (8) ◽  
pp. 1461-1466 ◽  
Author(s):  
Hyun-jun Park ◽  
Dowon Kim ◽  
Byungkyu Kim
Keyword(s):  
Robotic Colonoscope ◽  
Long Stroke

A reel mechanism-based robotic colonoscope with high safety and maneuverability

2018 ◽  
Vol 33 (1) ◽  
pp. 322-332 ◽  
Author(s):  
Dongkyu Lee ◽  
Seonggun Joe ◽  
Hyeongseok Kang ◽  
Taeyoung An ◽  
Byungkyu Kim
Keyword(s):  
Robotic Colonoscope ◽  
Reel Mechanism
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