Development of an Earthworm-Based Intestinal Soft Robot Equipped with a Gripper

An endoscopy is a tool that used to examine the interior of hollow organ or cavity body by inserting directly into organ. However, intestinal not friendly patients due discomfort, and it can easily cause damage even perforation use rigid materials endoscopy. Here, we provide an earthworm-based soft robot equipped with gripper for application on exams surgery. The composed frontal radial actuator, central axial rear actuator gripper. first three actuators drive move freely in some specific pipes altering its own deformation, gripper, fixed at end pick up “foreign bodies” out purpose applications. different experiments validated could forward backward autonomously pipe, flexible mucus-containing pipe extract objects from these pipes. ultimate weight extracts 220 g, maximum moving speed 12.0 cm/min pipe. This non-destructive operating environment, providing novel method diseases.