Design of a Soft Automatic Anchoring System for Enhanced Mobility and Stability in Colonoscopy Robots
Yiying Liang, Xuchen Wang, Jing Shu, Huayu Zhang, Puchen Zhu, Xianfeng Xia, Xin Ma
Abstract
Ensuring both mobility and stability during colonoscopy is crucial for enhancing procedural efficiency and reducing the risk of complications. Traditional colonoscopy robots face challenges due to the fixed diameter of the colonoscope and the variability in colon anatomy. To address this, we propose a soft automatic anchoring system (SAAS) to enhance mobility and stability in colonoscopy robots. The SAAS features proximal and distal soft balloon anchors, employing origami principles to achieve a 42.2% higher maximum expansion capability compared to conventional flat surface anchors. With real-time pressure feedback, the SAAS automatically anchors upon contact detection, ensuring precise anchoring without overinflation while adapting to colon diameter variations and robot posture changes. Experimental results show a tenfold reduction in displacement during the stability test, significantly enhancing the robot’s performance under external loads. Performance comparison tests in phantom further demonstrated notable improvements in the efficiency of colonoscopy procedures using the SAAS. This system has the potential to greatly enhance the safety, precision, and overall efficiency of colonoscopy, offering substantial benefits for both medical practitioners and patient outcomes.
BibTeX
@inproceedings{iros2025_designofasoftaut,
title = {Design of a Soft Automatic Anchoring System for Enhanced Mobility and Stability in Colonoscopy Robots},
author = {Yiying Liang and Xuchen Wang and Jing Shu and Huayu Zhang and Puchen Zhu and Xianfeng Xia and Xin Ma},
booktitle = {IROS 2025},
year = {2025}
}