Colorectal cancer (CRC) is the 3rd deadliest cancer in the United States and world for both men and women. CRC develops from a growth on the colon wall called a polyp. When CRC is detected at the earliest (local) stage, there is a 90% survival rate, however, when detected at the latest stage (after metastization), the survival rate drops to 10%. Unfortunately, only 40% of CRC cases are detected at the earliest stage, partly due to low screening rates. The purpose of this research is to develop a less invasive, cheaper, and more accessible screening procedure for CRC.
Currently, the state-of-the art screening technology is a colonoscope, which is a flexible scope with a light source, camera, and port for tools/suction/irrigation. Although colonoscopes are the "gold standard" for CRC screening, looping (which causes patient discomfort, pain, and in severe cases perforation) can occur due to the "push" type motion required for advancing the scope.
Several research groups and companies have attempted to improve the standard colonoscope by implementing locomotion systems, usually resulting in a "front-wheel" drive scenario.
