Squirm robot with full bellow skin for colonoscopy

Non invasive micro robotic colonoscope can be applied in health care to find the malignant tumor in its early stage. This project presented a novel squirm robot prototype with 13 mm diameter, 105 mm length, and 22.3 g weight. The robot is actuated by three linear motors which are composed of micro motor, turbine-worm, and wire wrapping-sliding mechanism. This linear actuators are featured with the high reduce ratio and small weight. Earthworm-like locomotion principle is used to realize the autonomous motion. Because the friction difference is a key factor to the locomotion ability, the robot outside surface is designed to enlarge this difference. Full bellow skin is packaged outside of the robot to change the friction between the moving bellow and the intestine wall. The robot is tested in in-vitro pig´s bowel, which demonstrated a good ability of navigation.