A colonoscopy is a very unpleasant selfie. The medical procedure involves having a long, thin, flexible camera inserted up your rectum and into your large intestine to look for ulcers, polyps, and tumors. Nobody looks forward to this. To improve the process, researchers at the University of Colorado, Boulder's Advanced Medical Technologies Laboratory designed a worm-like soft robot that employs a wavelike motion, similar to the way the bowel moves, to make its way up your large intestine. From their research abstract:
Traditional colonoscopy requires highly trained personnel to be performed. Additionally, current devices may cause discomfort and carry the risk of perforating the bowel wall. In this paper, a soft three modular section robot is designed, modeled, controlled and tested. Each of the robotic sections has three degrees of freedom, one translation and two rotations. The robot uses a peristaltic motion to translate, inspired by the motion generated by the bowel.
The robot uses nine independently controlled Shape Memory Alloy (SMA) springs as its actuators and a novel silicone rubber skin provides the passive recovery force to expand the springs to their original state. It also incorporates three air tubes, one for each section, to provide forced convection reducing the cooling time of the SMA springs.
