IMSaT University of Dundee

This project presents an innovative endoscopy robot developed in the European Research Council (ERC) framework with the “Colon Disease Investigation by Robotic Hydro-Colonoscopy” (CODIR) project and subsequently an ERC PoC “Compliant Actuation Robotic Platform for Flexible Endoscopy” ), Based on an “Active Tether Concept” ATC patent. In contrast to a traditional colonoscope, robot locomotion is performed by intelligent control, reducing the forces applied to the colon wall and consequently pain during the procedure.

The ATC consists of a series of crawling and miniaturized actuators, each with 2 degrees of movement coupled together, form a flexible robot capable of replicating a snake-like locomotion. The ATC is moved by using a pair of Shape Memory Alloy cables for each degree of motion with antagonistic configuration to reduce power consumption and increase motion speed, controlled by non-contact position sensors, And inertial, along with a dedicated intelligent and miniaturized control card.

ATC has an outside diameter of 13 mm, an internal space of 5 mm and a weight of about 1 g, optimized by FEA and made up of titanium and aluminum parts produced at the Institute for Medical Science and Technology (IMSaT), University of Dundee (UK). A camera on the robot head and a console will allow you to control locomotion