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<p>Based on the inchworm-like locomotion, a pneumatic robot was designed and studied for intestinal inspection. This allows for the early detection of abnormalities in the intestines, enabling prompt treatment. The aim is to reduce the discomfort with small intestine diagnostics, making it more widely accepted. The robot is soft, simple in structure, and consists of three airbags, mimicking the movement of an inchworm. Additionally, based on Ogden’s theory, the expansion process of the robot’s anchoring airbags is analyzed, revealing the instability phenomena that arise during large deformations of the rubber airbags. The designed robot successfully operated within both polycarbonate (PC) tubes and ex vivo pig intestines. In the PC tubes with diameters of 25&#xa0;mm and 35&#xa0;mm, the robot’s forward speed can reach 8.8&#xa0;mm/s and 7.6&#xa0;mm/s, respectively. The forward speed of the robot within the ex vivo pig intestine reached 5.1&#xa0;mm/s, demonstrating its feasibility for intestinal examination. This work provides valuable insights for the design and application of soft robots in the medical field.</p>

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Design and development of inchworm type soft robot for intestinal examination

  • 期刊论文

  • 发表日期：

    2026年1月7日

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  • Xiaocheng Chu,
  • Zhijun Sun,
  • Yongsheng He,
  • Guowei Han,
  • Jie Yuan,
  • Qiran Sun

摘要

Based on the inchworm-like locomotion, a pneumatic robot was designed and studied for intestinal inspection. This allows for the early detection of abnormalities in the intestines, enabling prompt treatment. The aim is to reduce the discomfort with small intestine diagnostics, making it more widely accepted. The robot is soft, simple in structure, and consists of three airbags, mimicking the movement of an inchworm. Additionally, based on Ogden’s theory, the expansion process of the robot’s anchoring airbags is analyzed, revealing the instability phenomena that arise during large deformations of the rubber airbags. The designed robot successfully operated within both polycarbonate (PC) tubes and ex vivo pig intestines. In the PC tubes with diameters of 25 mm and 35 mm, the robot’s forward speed can reach 8.8 mm/s and 7.6 mm/s, respectively. The forward speed of the robot within the ex vivo pig intestine reached 5.1 mm/s, demonstrating its feasibility for intestinal examination. This work provides valuable insights for the design and application of soft robots in the medical field.