Conventional colonoscopy remains the standard method for colorectal examination and intervention, but it is associated with patient discomfort, a risk of complications, and a strong dependence on operator skill. Although alternative techniques, such as CT-based virtual colonoscopy, have been developed, none has yet provided a comprehensive replacement.
This thesis presents an experimentally validated track-based robotic colonoscope featuring an externally actuated, shape- and size-conforming expandable head. A review of current robotic colonoscopy technologies is first conducted to identify key challenges and opportunities for improvement. Based on this analysis, a robotic system with four independently controlled tracks was developed. The initial prototype employed soft bellows to actuate the expandable head, and benchtop experiments confirmed the feasibility and effectiveness of the design.
Building on these findings, an optimized second-generation prototype was developed using an improved actuation mechanism. The new design achieved a propulsion speed of 14.5 mm/s, representing a 36.8% improvement over the first prototype (10.6 mm/s), while the maximum traction force increased from 3.0 N to 3.7 N. In addition, a force differential steering method was proposed and experimentally validated, demonstrating the robot’s ability to actively navigate curved ducts.
The results show that the proposed robotic colonoscope offers enhanced propulsion, traction, and steering capabilities, highlighting its potential to improve manoeuvrability and safety during navigation through the tortuous anatomy of the colon.
