Modeling and dynamic analysis of the worm‐like part of an innovative robot applicable in colonoscopy

摘要

BACKGROUND: The pathological conditions of the human colon may lead to cancer of the colon, which is one of the most common diseases of the gastrointestinal tract. Colonoscopy is the best diagnostic technique that can be used in colon cancer detection. However, many people do not accept this method due to the unpleasant experience, i.e. if it is not performed under sedation. As a result, changing the conventional colonoscopy into a robotic procedure seems beneficial. METHODS: In this work, a semi-autonomous device capable of propelling itself along the flexible environment has been introduced. This robot is capable of advancing along intestinal turns such as the turn between the transverse and descending colon. Control of the robot's worm-like part has been investigated via dynamic simulations as well as computer programming. RESULTS: The simulations resulted in workspace analysis of the robot. A prototype of the robot verified the performance of the computer program. CONCLUSION: The real model revealed the applicability of the method in controlling cable-driven worm-like mechanisms.