软体翻转机器人可减少肠镜检查不适，但需解决转向与载荷难题。
Soft Eversion Robots for Colonoscopy: Challenges, Open Problems, and Emerging Solutions
- 通过压力驱动尖端生长实现无摩擦推进
- 四类设计均无法同时满足长度、直径、弯曲角等临床要求
- 适合关注柔性机器人临床落地的研究者
传统肠镜受限于患者不适和操作风险，推动了柔性机器人替代方案的研究。翻转机器人依靠压力驱动尖端生长，消除与结肠壁的滑动摩擦，提供更微创的路径穿越方式。然而，现有设计尚无一能同时满足临床关键需求：结肠长度、最小管腔直径、弯曲角度及工作通道要求。本文对比评估了四种近期翻转机器人架构，揭示其核心权衡，尤其在不牺牲柔软低摩擦特性前提下集成转向与载荷输送的困难。论文进一步提出材料选择、转向策略与载荷传递的设计建议，并指出临床转化中的开放问题。
原文摘要 · Abstract (English)
Conventional colonoscopy remains limited by patient discomfort and procedural risks, motivating research into compliant robotic alternatives. Eversion robots, which advance via pressure-driven tip growth, eliminate sliding friction against the colon wall and offer a less intrusive approach to traversal. However, no existing design simultaneously satisfies all clinical requirements. This paper benchmarks four recent eversion robot architectures against the key anatomical and clinical constraints of colonoscopy, including colon length, minimum luminal diameter, bending angle, and working-channel needs. We identify the central trade-offs each design reveals, particularly the difficulty of integrating steering and payload delivery without sacrificing the soft, low-friction behaviour that makes eversion robots attractive. We then provide design guidance across material selection, steering strategy, and payload delivery, and highlight open problems for clinical translation.
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