RollerBall
A mobile robot for intraluminal locomotion
Joseph Norton (University of Leeds)
Adrian Hood (St James's University Hospital)
Anne Neville (University of Leeds)
David Jayne (St James's University Hospital)
Peter Culmer (University of Leeds)
Ali Alazmani (University of Leeds)
Jordan Boyle (University of Leeds)
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Abstract
There are currently a number of major drawbacks to using a colonoscope that limit its efficacy. One solution to this may be to use a warm liquid to distend the colon during inspection. Another is to replace the colonoscope with a small mobile robot-a solution many believe is the future of gastrointestinal intervention. This paper presents RollerBall, an intraluminal robot that uses wheeled-locomotion to traverse the length of a fluid-filled colon. The device provides a central, stable platform within the lumen for the use of diagnostic and therapeutic tools. The concept is described in detail and the feasibility demonstrated in a series of tests in a synthetic colon.
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