The number of patients suffering from colorectal cancer (CRC) has been increasing. CRC is known to be curable if detected and treated early. Colonoscopy is currently one of the best screening methods for CRC because it can observe and treat disorders in the large intestine. However, operating the colonoscope is technically demanding for doctors because the insertion of the instrument into the large intestine requires considerable training and skill. To address this issue, we propose a novel self-propelled robot with flexible paddles for the intestinal tract. In this device, the torque is transmitted from a motor outside the patient body to a worm gear at the tip of the colonoscope by a flexible shaft. The worm gear is engaged with two spur gears, and flexible paddles fixed to these spur gears contact the wall of the large intestine to provide the propulsive force. We constructed a force transmission model of the robot to confirm the suitability of the design. The prototype of the self-propelled robot was fabricated by a 3D printer, and its locomotion in a simulated rubber intestine was evaluated. The velocity of the robot was faster than the required speed of 6.5 mm/s. The propulsive force was approximately 1 N; thus, the effectiveness of the robotic principle was confirmed. The mechanical locomotion design, its fabrication, and analysis results are reported in this letter.

中文翻译：

---

使用柔性桨的自行式结肠镜检查机器人

患有结直肠癌 (CRC) 的患者人数一直在增加。众所周知，如果及早发现和治疗，CRC 是可以治愈的。结肠镜检查是目前最好的CRC筛查方法之一，因为它可以观察和治疗大肠疾病。然而，操作结肠镜对医生来说在技术上要求很高，因为将仪器插入大肠需要大量的训练和技能。为了解决这个问题，我们提出了一种新型自走式机器人，具有用于肠道的柔性桨。在该装置中，扭矩通过柔性轴从患者体外的电机传递到结肠镜尖端的蜗轮。蜗轮与两个正齿轮啮合，固定在这些正齿轮上的柔性桨与大肠壁接触以提供推进力。我们构建了机器人的力传递模型，以确认设计的适用性。自行式机器人的原型由3D打印机制造，并评估其在模拟橡胶肠中的运动。机器人的速度比要求的速度 6.5 mm/s 还要快。推进力约为 1 N；因此，机器人原理的有效性得到了证实。这封信报告了机械运动设计、制造和分析结果。并对其在模拟橡胶肠中的运动进行了评估。机器人的速度比要求的速度 6.5 mm/s 还要快。推进力约为 1 N；因此，机器人原理的有效性得到了证实。这封信报告了机械运动设计、制造和分析结果。并对其在模拟橡胶肠中的运动进行了评估。机器人的速度比要求的速度 6.5 mm/s 还要快。推进力约为 1 N；因此，机器人原理的有效性得到了证实。这封信报告了机械运动设计、制造和分析结果。