Robotic capsule endoscopes (RCEs) are being widely investigated to improve the state of various endoscopy procedures. This article presents the novel design of a multi-DOF sensor-enabled RCE for colonoscopies (Endoculus) and evaluates porcine in vivo and ex vivo performance. The novelty of the design includes a custom “double-worm” drive that removes axial gear forces while reducing radial moments, and the full parameterization of gear geometries allows for size minimization via an optimization routine over design constraints. Two independently controlled motors drive micro-pillared treads above and below the device allowing for two-degrees of freedom (2-DOF) skid-steering, even in a collapsed lumen. The Endoculus contains all functionality of a traditional endoscope: a camera, adjustable light emitting diodes (LEDs), channels for insufflation and irrigation, and a tool port for endoscopy instruments (e.g., forceps, snares, etc.). Additionally, the Endoculus carries an inertial measurement unit, magnetometer, motor encoders, and motor current sensors to aid in future autonomy strategies. Porcine surgical evaluation demonstrated locomotion up to 40 mm/s on the colon mucosa, 2-DOF steering, the ability to traverse haustral folds, and functionality of endoscopy tools. This platform will enable future validation of feedback control, localization, and mapping algorithms in the unconventional in vivo environment.

中文翻译：

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基于新型优化设计的履带式机器人胶囊结肠镜的手术评估

机器人胶囊内窥镜 (RCE) 正在被广泛研究以改善各种内窥镜检查程序的状态。本文介绍了用于结肠镜检查 (Endoculus) 的多自由度传感器 RCE 的新颖设计，并评估了猪的体内和体外性能。该设计的新颖之处包括定制的“双蜗杆”驱动器，可消除轴向齿轮力，同时减少径向力矩，齿轮几何形状的完整参数化允许通过超出设计约束的优化程序实现尺寸最小化。两个独立控制的电机驱动设备上方和下方的微柱踏板，即使在倒塌的管腔中也能实现两个自由度 (2-DOF) 的滑移转向。Endoculus 包含传统内窥镜的所有功能：摄像头、可调发光二极管 (LED)、用于吹气和冲洗的通道，以及用于内窥镜器械（例如镊子、圈套器等）的工具端口。此外，Endoculus 带有惯性测量单元、磁力计、电机编码器和电机电流传感器，以帮助制定未来的自主策略。猪手术评估表明结肠黏膜的运动速度高达 40 毫米/秒、2-DOF 转向、穿过腹壁皱襞的能力以及内窥镜工具的功能。该平台将使未来在非常规的体内环境中验证反馈控制、定位和映射算法成为可能。猪手术评估表明结肠黏膜的运动速度高达 40 毫米/秒、2-DOF 转向、穿过腹壁皱襞的能力以及内窥镜工具的功能。该平台将使未来在非常规的体内环境中验证反馈控制、定位和映射算法成为可能。猪手术评估表明结肠黏膜的运动速度高达 40 毫米/秒、2-DOF 转向、穿过腹壁皱襞的能力以及内窥镜工具的功能。该平台将使未来在非常规的体内环境中验证反馈控制、定位和映射算法成为可能。