Soft-Pneumatic Inchworm Robot for Colonoscopy
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Solution Overview
Problem
Conventional colonoscopy procedures are painful, require extensive training, and involve costly, complex, and difficult-to-maintain rigid robotic devices that are not cost-effective for widespread screening, while existing alternatives like capsule endoscopy lack on-board instrumentation and are limited in flexibility.
Innovation Solution
A soft-pneumatic inchworm double-balloon robot with toroidal balloons and a soft-pneumatic actuator providing 5 degrees of freedom for navigation within the colon, allowing for gentle, flexible movement and disposable construction, reducing production and maintenance costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional rigid robotic devices are used for colonoscopy, then navigation precision and control are improved, but device complexity and maintenance difficulty increase
Solution Approach 1:
The patent employs a flexible soft robot construction with compliant walls instead of rigid structures. The robot body is made of elastomeric materials that allow bending and deformation to navigate the colon's tortuous path, eliminating complex rigid mechanical joints and actuators while maintaining navigation capability through passive compliance and active balloon control
Solution Approach 2:
The patent uses inflatable balloons as the primary actuation mechanism for navigation and anchorage. By controlling balloon inflation and deflation sequences, the robot achieves locomotion and position control without complex mechanical actuators, reducing device complexity while maintaining navigational precision through pneumatic control
2Strength
If conventional rigid robotic devices are used for colonoscopy, then structural strength is improved, but ease of manufacture and maintenance cost worsen
Solution Approach 1:
The patent employs a flexible soft robot construction with compliant walls instead of rigid structures. The robot body is made of elastomeric materials that allow bending and deformation to navigate the colon's tortuous path, eliminating complex rigid mechanical joints and actuators while maintaining navigation capability through passive compliance and active balloon control
Solution Approach 2:
The patent describes a soft robot that can be constructed from inexpensive elastomeric materials and disposable components. The simplified construction without complex electronics, rigid mechanics, or precision actuators enables cost-effective manufacturing, making the device suitable for single-use applications that eliminate sterilization and maintenance requirements
3Ease of manufacture
If a soft robot construction is used, then ease of manufacture and cost-effectiveness are improved, but structural strength and anchorage capability worsen
Solution Approach 1:
The patent uses inflatable balloons as the primary actuation mechanism for navigation and anchorage. By controlling balloon inflation and deflation sequences, the robot achieves locomotion and position control without complex mechanical actuators, reducing device complexity while maintaining navigational precision through pneumatic control
Solution Approach 2:
The patent employs preliminary anchorage through balloon inflation before performing inspection or intervention tasks. The balloons are inflated to secure the robot against the colonic wall, providing stable anchorage for camera imaging or instrument deployment, with the anchorage force established in advance before the main function is performed
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot minimizes pain and discomfort during procedures, reduces healthcare costs, and enhances the acceptability of colonoscopy by providing a flexible, dexterous, and cost-effective solution for colonoscopy with improved anchorage and navigation capabilities within the colon.
Implementation Method 1
A soft-pneumatic actuator located between the leading balloon and the trailing balloon and which is operable to extend or contract the robot in a longitudinal direction
Implementation Method 2
a leading balloon and a trailing balloon, each balloon being configured for selective inflation to anchor a portion of the robot within a pipe
Data Source
AI summary
This invention relates to a robot to improve the inspection of a pipe or lumen. More particularly, this invention relates to a soft-pneumatic robot for endoscopy that is suitable for performing colonoscopy procedures. The robot of this invention comprises leading and tailing balloons configured for selective inflation to anchor a portion of the robot within the pipe or lumen and a soft-pneumatic actuator that is located between the leading balloon and the trailing balloon. The soft-pneumatic actuator is operable to extend or contract the robot in a longitudinal direction, in addition to positioning the leading balloon in a 360 degree circumference around the longitudinal direction by pneumatically controlling a fluid within a plurality of chambers within the soft-pneumatic actuator.