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.
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