Abstract
A self-propelled semi- or fully-autonomous robotic colonoscope device is provided that includes multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include a flexible rotary shaft that transmits power to a distal tip device and ultimately outputs locomotion at the distal tip with reduced complex maneuverability from the physician. In one particular implementation, a flexible metal rotary shaft may be utilized to deliver power from an off-board motor to the distal tip device. The flexible rotary shaft may be included in a tether that connects the rotary shaft from a handle to the distal tip device. The flexible shaft may be selected to provide a particular torque, directional operation, minimum bend radius, deflection, and speed. The flexible rotary shaft provides transmission of rotary motion through bends and curves of the flexible tether without sacrificing efficiency.