Preliminary Development of a Robust Multilink Modular Robotic System for Improvement of Colonoscopy Intubation Process¹

Colonoscopy is one of the most commonly utilized methods for detection and diagnosis of colorectal diseases, including colorectal cancer, which has the second highest number of cancer deaths in the United States [1]. A conventional colonoscope is used in colonoscopies for the detection colorectal conditions. It consists of a shaft and a distal tip that can be manipulated by the colonoscopist to bend in order to navigate turns in the colon. The colonoscopy procedure is heavily skill dependent because of the required interaction between the instrument and the colonoscopist to steer. Only 90% [2] of colonoscopies reach the cecum successfully, checking the entire colon for abnormalities. In addition to the difficulty of insertion of the colonoscope to view the entire colon, there is also significant risk of the colonoscope damaging the colon wall. This leads to patient discomfort as well as health risks, such as colonic...