The locomotion systems for self-propelled endoscopes: a review and a new proposal

摘要

As a large section of the human intestine is currently unreachable through endoscopy, a self-propelled wireless system is expected for none invasive diagnosis and treatment. Recent advancements in robotics and micro fabrication have greatly encouraged this attempt and various systems have been developed. This paper reviews the locomotion methods under development, such as driving by peristalsis, friction, and electromagnetic field, and proposes a novel design that mimics the sliding of snails, which adheres to the intestinal mucosa and drives around by squeezing the mucus.