用于结肠镜检查的软外翻机器人：挑战、开放问题和新兴解决方案
Soft Eversion Robots for Colonoscopy: Challenges, Open Problems, and Emerging Solutions
AI总结：
针对传统结肠镜检查的局限，研究对四种外翻机器人架构进行基准测试，明确其核心权衡，提供材料选择等方面设计指导，强调临床转化开放问题，探索满足临床要求的软外翻机器人设计。
AI中文摘要：
传统结肠镜检查受患者不适和操作风险限制，促使人们研究顺应性机器人替代方案。外翻机器人通过压力驱动尖端生长前进，消除与结肠壁的滑动摩擦，提供侵入性较小的遍历方法。然而，现有设计无法同时满足所有临床要求。本文根据结肠镜检查的关键解剖和临床限制，对四种最新的外翻机器人架构进行了基准测试，包括结肠长度、最小管腔直径、弯曲角度和工作通道需求。我们确定了每种设计所揭示的核心权衡，特别是在不牺牲使外翻机器人具有吸引力的柔软、低摩擦特性的情况下集成转向和有效载荷输送的困难。然后，我们提供了材料选择、转向策略和有效载荷输送方面的设计指导，并强调了临床转化的开放问题。
英文摘要：
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.
