This article presents an inchworm-inspired, pneumatic, endoscopic device intended to navigate inside a colon. The device consists of a propulsion segment with two linear balloons and two gripper segments with four twisted balloons. The three segments can be sequentially actuated by pressurized air, which achieves a propulsive motion like an inchworm. Experimental results of the pneumatic characteristics show that the device has excellent adaptability to pipes of different diameters and good controllability of the propulsion velocity. The device is flexible enough to pass through an elbow pipe without requiring special controls, and the inspection performance of a device equipped with a camera in a flexible pipe is also presented. Moreover, the device is able to advance in an excised swine colon, which shows its great potential for applications in colonoscopy.

中文翻译：

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具有生物启发性的自我推进式内窥镜检查装置，用于检查大肠。

本文介绍了一种受蠕虫感染的气动内窥镜设备，旨在在结肠内部导航。该设备包括带有两个线性气球的推进段和带有四个扭曲气球的两个抓取段。这三个部分可以被压缩空气顺序地致动，从而实现像尺worm一样的推进运动。气动特性的实验结果表明，该装置对不同直径的管道具有出色的适应性，并且推进速度的可控性良好。该设备足够灵活，可以通过弯管而无需特殊控制，并且还介绍了在柔性管中装有摄像头的设备的检查性能。而且，该装置能够在切除的猪结肠中前进，