RollerBall: a mobile robot for intraluminal locomotion

Norton, J orcid.org/0000-0001-9981-5936, Hood, A, Neville, A orcid.org/0000-0002-6479-1871 et al. (4 more authors) (2016) RollerBall: a mobile robot for intraluminal locomotion. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob). The 6th IEEE RAS/EMGS International Conference on Biomedical Robotics and Biomechatronics, 26-29 Jun 2016, University Town, Singapore. IEEE , pp. 254-259. ISBN 978-1-5090-3287-7

Abstract

There are currently a number of major drawbacks to using a colonoscope that limit its efficacy. One solution to this may be to use a warm liquid to distend the colon during inspection. Another is to replace the colonoscope with a small mobile robot – a solution many believe is the future of gastrointestinal intervention. This paper presents RollerBall, an intraluminal robot that uses wheeled-locomotion to traverse the length of a fluid-filled colon. The device provides a central, stable platform within the lumen for the use of diagnostic and therapeutic tools. The concept is described in detail and the feasibility demonstrated in a series of tests in a synthetic colon.

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Item Type:	Proceedings Paper
Authors/Creators:	Norton, J https://orcid.org/0000-0001-9981-5936 Hood, A Neville, A https://orcid.org/0000-0002-6479-1871 Jayne, D https://orcid.org/0000-0002-8725-3283 Culmer, P https://orcid.org/0000-0003-2867-0420 Alazmani, A https://orcid.org/0000-0001-8983-173X Boyle, JH
Copyright, Publisher and Additional Information:	© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Keywords:	Colon; DC motors; Force; Mobile robots; Prototypes; Wheels
Dates:	Published: 28 July 2016 Published (online): 28 July 2016 Accepted: 30 April 2016
Institution:	The University of Leeds
Academic Units:	The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Functional Surfaces (Leeds)
Depositing User:	Symplectic Publications
Date Deposited:	07 Jul 2016 10:32
Last Modified:	12 Dec 2019 13:24
Published Version:	https://dx.doi.org/10.1109/BIOROB.2016.7523634
Status:	Published
Publisher:	IEEE
Identification Number:	10.1109/BIOROB.2016.7523634
Open Archives Initiative ID (OAI ID):	oai:eprints.whiterose.ac.uk:101870

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RollerBall: a mobile robot for intraluminal locomotion

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