A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy

Julius E. Bernth, Alberto Arezzo, Hongbin Liu

Research output: Contribution to journalArticlepeer-review

52 Citations (Scopus)
340 Downloads (Pure)


This letter introduces the design and evaluation of a novel worm-inspired, multisegment robotic endoscope with multiple degrees of freedom segments. The novelty of this design is that the robot is able to drive forwards and backwards, anchor itself, steer while inside a tubular structure and control the orientation of an end-mounted camera all by bending its flexible segments. The mechanical design is shown and a sensing system based on Hall Effect sensors is incorporated. In a simulated colon, a top speed of 1.21 mm/s was achieved, equivalent to roughly 38% of the theoretical maximum. These results are discussed and further improvements are suggested, followed by general concluding remarks.
Original languageEnglish
Pages (from-to)1718 - 1724
Number of pages7
JournalIEEE Robotics and Automation Letters
Issue number3
Early online date16 May 2017
Publication statusPublished - 2017


Dive into the research topics of 'A Novel Robotic Meshworm With Segment-Bending Anchoring for Colonoscopy'. Together they form a unique fingerprint.

Cite this