Wang JB, Fang YY, Tong X, Zhang S, Fei YQ (2018) Design and Locomotion properties of a multi-airbag bionic soft robot. J Shanghai Jiaotong Univ 52(1):20–25 Alazmani, A., Hood, A., Jayne, D., Neville, A. & Culmer, P. Quantitative assessment of colorectal morphology: Implications for robotic colonoscopy. Medical Engineering & Physics 38, 148–154, https://doi.org/10.1016/j.medengphy.2015.11.018 (2016).

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Jang, H. J. Training in endoscopy: Colonoscopy. Clinical endoscopy 50, 322, https://doi.org/10.5946/ce.2017.077 (2017). The balloon, when activated, adapts its shape to the colonic haustral fold producing an anchorage force ( F A) essential for the inchworm locomotion. This force has 2 major components: Coulomb friction ( F C) and marginal resistance ( F M). The Coulomb friction is related to the force of the balloon against the colonic wall ( F B) and the coefficient of friction μ. This force includes also the weight of the robot ( F R) although, because of its light weight (10 g), this force is negligible compared to F B. The F C can be low because of the slippery colonic mucosa surface. The marginal resistance is related to the longitudinal deformation of the colonic wall.The SPA is composed of 3 longitudinal chambers and a central 5 mm circular cavity, with a cross-section area of 2.6 mm 2. The external diameter is 18 mm and a total length of 20 mm. Several lengths vs. diameter ratios have been tested. The one selected for SPID exhibited a good compromise between lateral bending enabling high dexterity, and longitudinal elongation to enhance locomotion speed. Higher dexterity could have been achieved by using 4 chambers although 1 more tube would have increased the tether diameter and hence the drag force with inevitable reduction of the locomotion speed. Supplementary Material describes the construction process. Colon phantom The advantage in using a mini-robot to carry out a colonoscopy is that once inserted through the anus, the device will travel by its intrinsic locomotion capability to the caecum virtually abolishing pain and discomfort, as it avoids pressure on the colonic wall and mesenteric tending by loop formation. In addition, standard conventional optical push colonoscopy is a difficult procedure requiring a long period of training for acquisition of the required level of proficiency for safe expert execution and interpretation 10, 11. Robotic colonoscopy dispenses with this long-proficiency-gain curve, averaging 2–3 years to attain competent and safe caecal intubation. This mini-robot should include a camera in its distal end for visual inspection and instruments for treatment. A soft-tether is necessary for high quality video transmission to an external user console, powering and control of the robot. The tether provides also a safety mechanism for withdrawing the mini-robot in case of malfunction. The friction provided by the tether against the colonic wall is a drag force in the locomotion. To overcome this force a robot needs to provide enough locomotive traction, although this can be challenging considering the small size, light weight of a mini-robot and the slippery colonic mucosa. The more conventional approach to design robots for colonoscopy is essentially by construction of components made of rigid miniaturized mechanical parts 12, 13, 14, 15, 16, 17, 18, 19, which may require expensive high precision machining. Thus, such a mini-rigid robotic colonoscope must be re-usable so that the device will be a financially viable proposition. Even if fully developed, it is most unlikely that it would reduce significantly the costs of screening colonoscopy for colorectal cancer. Valdastri, P., Simi, M. & Webster, R. J. Advanced technologies for gastrointestinal endoscopy. Annual Review of Biomedical Engineering 14, 397–429, https://doi.org/10.1146/annurev-bioeng-071811-150006 (2012). Trivedi V, Prakash S, Ramteke M (2017) Optimized on-line control of MMA polymerization using fast multi-objective DE. Mater Manuf Process 32(10):1144–1151 Alcaide, J. O., Pearson, L. & Rentschler, M. E. Design, modeling and control of a sma-actuated biomimetic robot with novel functional skin. In 2017 IEEE International Conference on Robotics and Automation (ICRA), 4338–4345, https://doi.org/10.1109/ICRA.2017.7989500 (2017).

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Isayev, A. I. & Hieber, C. A. Toward a viscoelastic modelling of the injection molding process. Rheol. Acta 19, 168–182, https://doi.org/10.1007/BF01521928 (1980). It is well established that one of the main challenges for a robotic colonoscopy consists of the ability of the device to negotiate the acute angled splenic flexure at the junction between the transverse and the descending colon. This flexure has an angle ranging between 40° to 50° and a diameter of 30 mm after CO 2 inflation of the colon 24. Tavana M, Li ZJ, Mobin M (2016) Multi-objective control chart design optimization using NSGA-III and MOPSO enhanced with DEA and TOPSIS. Expert Syst Appl 50:17–39 Kajita S, Cisneros R, Benallegue M, Sakaguchi T (2016) Impact acceleration of falling humanoid robot with an airbag. IEEE-RAS Int Conf Humanoid Robots 30:637–643Wang ZJ, Xu XF (2012) A sharing-oriented service selection and scheduling approach for the optimization of resource utilization. SOCA 6(1):15–32 Valdastri, P. et al. Magnetic air capsule robotic system: proof of concept of a novel approach for painless colonoscopy. Surgical Endoscopy 26, 1238–1246, https://doi.org/10.1007/s00464-011-2054-x (2012). Tolley, M. T. et al. A resilient, untethered soft robot. Soft Robotics 1, 213–223, https://doi.org/10.1089/soro.2014.0008 (2014). Colonoscope training model, kyoto kagaku co., ltd, fushimi-ku kyoto, japan, https://www.kyotokagaku.com/products/detail01/m40.html (Accessed: 22-03-2019). Horton, K. M., Corl, F. M. & Fishman, E. K. Ct evaluation of the colon: Inflammatory disease. RadioGraphics 20, 399–418, https://doi.org/10.1148/radiographics.20.2.g00mc15399 (2000).