Development of multistage type endoscopic robot based on peristaltic crawling for inspecting the small intestine

This paper describes the development of an endoscopic robot that can be used for inspecting the small intestine. The small intestine has been called "the dark continent": and with the help of a conventional endoscope, previously unknown affliction of the small intestine such as polyps and Crohn\´s disease can now be investigated. Recently, double-balloon endoscope and capsule endoscope have been applied to the inspection of the small intestine; however, some limitations of those techniques are evident. In this study, for decreasing the pain and distress in patients, we proposed a multistage type endoscopic robot that moves by peristaltic crawling. The robot is regarded as the upper-stage. This robot is attached to the head of a conventional endoscope that is regarded as the launcher-stage. When the endoscopic robot reaches the small intestine, it detaches itself from the endoscope and moves forward to treat the affliction. In this paper, we developed the propulsion mechanism of the upper-stage. In addition, we performed experiments by using an acrylic pipe and an elastic tube both of which have diameters equal to the average diameter of the small intestine. From these experimental results, the propulsion of this robot in the acrylic pipe and elastic tube was confirmed.