Micro robot prototype for colonoscopy and in vitro experiments.

For actively diagnosing the colon's pathologies micro-invasively or non-invasively, an autonomous prototype of the earthworm-like robot for colonoscopy was designed according to the principle of bionics, and manufactured using precision process technology. In vitro experiments in pig colon were carried out. The micro robot was driven directly by an electromagnetic linear driver. The mobile cells were joined with joints of two degrees of freedom, and the whole body was flexible. The direction of movement and the angle of imaging can be controlled by the shape memory alloy (SMA). In experiments, locomotion efficient and locomotion ability was analysed carefully. Locomotion force and velocity were tested. In vitro experiments in pig colon demonstrated that the micro robot can navigate though the colon by itself reliably and freely, which will be useful for the application of the robot to colonoscopy in the clinic.