Study on Moving Principle of Colonoscopic Robot

摘要

The moving principle of a colonoscopic robot is presented in this paper. The robot mainly consists of soft mobile mechanism for earthworm locomotion and turning mechanism based on shape memory effect. The soft mobile mechanism contacts colon wall with air-in inflatable balloons, so the robot has better soft and non-invasive properties. The turning mechanism can be actively bent by shape memory alloy components. It ensures the robot to adapt to the tortuous shape of colon. Therefore, the colonoscopic robot has good safety, lower working strength of surgeon and higher efficiency of colonooscopy.