Design and simulation of a smart endoscope - Part II

In this research, we are developing a noninvasive and safe endoscope for human colonoscopy. To minimize the invasiveness and discomfort, a smart endoscope is composed of a sheath with controllable stiffness that has an exoskeleton structure. A smart endoscope is comprised of an endoscope and a sheath. The stem has more flexibility than a conventional endoscope and the sheath portion maintains controllable flexibility. In principle, this approach could be used for other procedures. The stem of a conventional proctoscope has stiffness and it can scratch the inside surface when it pushes into a human colon. It may also deform the colon's shape. Important parameters used in designing a smart endoscope include the radius of curvature of a sigmoid colon, an appropriate unit diameter for the sheath part, and an ability to lock the units together. An analysis of the cable tensions and external forces is completed for a given configuration based on selected geometric parameters. By applying external forces to the stem of the endoscope, we can solve for the maximum external resisting forces. These are required to maintain the locking ability of the endoscope and the corresponding cable forces.