Author : Mr. Irwan Kassim
Last Updated : 1 October 2004

Colonoscopy is commonly used in the diagnosis of colonic pathology like cancer of the colon. It is available in most hospitals in industrialized countries. The colonoscopic procedure is often unpleasant for the patient. Furthermore, it is technically demanding for the endoscopist, due mainly to the working characteristics of current conventional colonoscopes which are quite rigid and require the endoscopist to perform difficult maneuvers during the procedure. Many researchers have attempted to automate colonoscopy, with the common objective of finding less traumatic and less technically demanding techniques.

The problems of locomotion are concerned with activation systems and control sequencing of actuator elements within an environment which is slippery and has a highly varied anatomy. Steerable tips have difficulties associated with the need for remote activation and the need to negotiate tight radii without penetrating the colon wall.

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