Design and Evaluation of the SoftSCREEN Capsule for Colonoscopy

Colonoscopy is considered the golden standard for cancer screening of lower gastrointestinal (GI) tract. Nonetheless, conventional colonoscopy can cause discomfort to patients due forces occurring between colonoscopes and walls colon. Robotic solutions have been proposed reduce discomfort, improve accessibility image quality. Aiming at addressing limitations traditional robotic colonoscopy, in this paper, we present SoftSCREEN System – a novel Soft Shape-shifting Capsule Robot Endoscopy based on Eversion Navigation. A plurality tracks surrounds body system. These are driven by single motor paired with worm gear evert from internal rigid chassis, enabling full-body track-based navigation. Two inflatable toroidal chambers enclosing chassis passing through tracks, them displace when inflated. This displacement be used regulate contact surrounding wall, thus traction control adjustment overall system diameter match local lumen size. The design first tethered prototype 2:1 scale presented work. experimental results show efficient navigation capabilities different diameters curvatures, paving way robot capable robust reliable imaging, potential applications beyond including gastroscopy capsule endoscopy.