A simple and reliable reel mechanism-based robotic colonoscope for high mobility

Colonoscopes are one The first two authors contributed equally to this workof the best tools to detect colorectal cancer despite their several drawbacks. In order to solve the limitations of conventional colonoscopes and detect cancer more efficiently, robotic colonoscopes and capsule endoscopes have been proposed. However, active capsule endoscopes require expensive control systems, and they have functional limitations due to their small volumes. In addition, robotic colonoscopes fail to achieve sufficient mobility, resulting in longer colonoscopy times than with conventional colonoscopes. Therefore, the present study proposes a simple, reliable reel mechanism-based robotic colonoscope that achieves high mobility. Because the robot is operated by a reel with an external high-capacity motor, enhanced mobility is attained regardless of environment. Moreover, the proposed robotic colonoscope allows for the inclusion of an instrument channel, unlike previously reported robotic colonoscopes. A theoretical ana...