Enhancing Magnetic Endoscope Manoeuvrability Using Tip-Growing and Developable Roller Mechanisms for Deep Navigation and Virtual Biopsies

Early detection of gastrointestinal (GI) cancers significantly improves survival outcomes; however, current diagnostic pathways are limited by manual procedures that are time consuming, uncomfortable, and resource-intensive. In many health systems, especially those constrained by staff shortages or infrastructure, routine endoscopic screening remains inaccessible or inefficient. Colonoscopy, the gold standard for detecting colorectal cancer, is associated with discomfort, sedation requirements, and steep operator learning curves. The global push toward automation and patient-centric technologies has fueled interest in robotic solutions that can enhance the reach, dexterity, and diagnostic capability of endoscopic tools. This thesis is motivated by the clinical imperative to make GI cancer detection faster, safer, and more scalable using intelligent magnetically actuated robotic platforms. Chapter 2 introduces an oloid-shaped, magnetically actuated endoscope that restores rotational
dexterity and achieves stable contact with the GI wall during 74% of rolling motion in vivo. Building on this, Chapter 3 integrates closed-loop magnetic control and high resolution micro-ultrasound imaging, enabling autonomous three-dimensional subsurface lesion detection and mapping, validated in benchtop and porcine in vivo models. Chapter 4 presents a tip-growing, magnetically steered "vine robot" endoscope with a minimum bending radius of 3.85 cm and stable, shear-free navigation, along with promising initial results for magnetic retraction to support deeper GI tract navigation. My work is situated at the intersection of magnetic actuation, soft robotics, and minimally invasive diagnostic techniques.