Robotic endoscope with double-balloon and double-bend tube for colonoscopy

Abstract

Abstract The insertion of conventional colonoscopes can result in the patient experiencing pain during the procedure owing to the stretching of the mesentery. In this study, a prototype of a robotic colonoscope with a double-balloon and double-bend tube based on the conventional double-balloon endoscope was developed to simplify insertion and prevent the overstretching of the colon. The outer and inner tubes were confirmed to be free from interference owing to wires and sheaths. Additionally, each function such as tip bending, inflation and deflation of the balloons, and pulling and pushing of the inner tube by the actuator could be operated properly. During the insertion test, the device could be reached the cecum of a colon model in approximately 442 s when operated by a non-medical operator. In addition, the device did not overstretch the colon model, thereby suggesting that the insertion mechanism can follow the shape of the colon model. Therefore, the developed mechanism can potentially pass through the highly-bent colon without overstretching.