Previously developed colonoscopes have difficulties on performing diagnosis procedure since it can be performed by experienced endoscopists only to control the device efficiently. Therefore, in this paper, we presented a robotic colonoscope applying rotating elastic caterpillars, enabling self-locomotion in a colon efficiently. The locomotion performance of the robot is obtained by adopting a three-caterpillar-driving system and it can also center the robot in the colon well. Comparing with conventional colonoscope with stiff cable, the presented robot composed with thin-flexible electric wire, not to deform shape of colon. For preliminary test, we activated the robot in various radii of the acrylic pipes and a latex tube, and it has successfully moved through. Conclusively, forward and backward velocities in the ex vivo (or excised) pig colon having slope of 0 degrees were 1.7cm/s and 2.6cm/s, respectively. Similarly, it goes 2.0cm/s and 2.9cm/s respectively in the slope of 40 degrees.
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