Locomotion and steering aspects in automation of colonoscopy. I. A literature review

摘要

Automation of colonoscopy can be broken down into two aspects: locomotion and steerable distal end. The problems of locomotion are concerned with activation systems and the control sequencing of actuator elements within an environment that is slippery and has a highly varied anatomy. Steerable tips have difficulties associated with the need for remote activation and the need to negotiate tight radii without penetrating the colon wall. This literature survey gives a critical review of research in these areas. The results of some of the researchers seem very promising. In vitro and in vivo experimentations have been carried out to prove the possibilities of a robot moving along a patient's colon, treating polyps as they are encountered. The authors believe that conventional colonoscopy will shortly be revolutionized.