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The basic concept of SPID involves the design of the double balloon and the SPA. Each part was constructed and tested before the assembly to avoid any issue in the final functional outcomes. A colonic phantom was designed and constructed to test the locomotion performance based on the size and configuration of the average human colon anatomy. The following sections report on the design details of each component. Balloon for anchorage Marchese, A. D. & Rus, D. Design, kinematics, and control of a soft spatial fluidic elastomer manipulator. The International Journal of Robotics Research 35, 840–869, https://doi.org/10.1177/0278364915587925 (2016). Ranzani, T., Gerboni, G., Cianchetti, M. & Menciassi, A. A bioinspired soft manipulator for minimally invasive surgery. Bioinspiration & Biomimetics 10, 035008, https://doi.org/10.1088/1748-3190/10/3/035008 (2015).

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Kajita S, Cisneros R, Benallegue M, Sakaguchi T (2016) Impact acceleration of falling humanoid robot with an airbag. IEEE-RAS Int Conf Humanoid Robots 30:637–643 Bray, F. et al. Global cancer statistics 2018: Globocan estimates of incidence and mortality worldwide for 36 cancers in 185 countries. CA: a cancer journal for clinicians 68, 394–424, https://doi.org/10.3322/caac.21492 (2018). Madiouni R, Bouallègue S, Haggège J, Siarry P (2016) Robust RST control design based on multi-objective particle swarm optimization approach. Int J Control Autom Syst 14(6):1607–1617 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). Jang, H. J. Training in endoscopy: Colonoscopy. Clinical endoscopy 50, 322, https://doi.org/10.5946/ce.2017.077 (2017).

Khosraviani M, Jahanshahi M, Farahani M, Bidaki ARZ (2018) Load–frequency control using multi-objective genetic algorithm and hybrid sliding mode control-based SMES. Int J Fuzzy Syst 20(1):280–294

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Schreuders, E. H. et al. Colorectal cancer screening: a global overview of existing programmes. Gut 64, 1637–1649, https://doi.org/10.1136/gutjnl-2014-309086 (2015). Omnidirectional compliance on cross-linked actuator coordination enables simultaneous multi-functions of soft modular robots Institute for Medical Science and Technology (IMSaT), Division of Imaging and Technology, School of Medicine, University of Dundee, Dundee, DD2 1FD, UK Appleyard, M. N. et al. The measurement of forces exerted during colonoscopy. Gastrointestinal Endoscopy 52, 237–240, https://doi.org/10.1067/mge.2000.107218 (2000).

Hu FJ, Lin JW, Gu HJ (2019) Dynamic linear predictive optimization of flexible robot profiling MFA model. J Sens 2019:1–9 Ramirez AC, Del SJ, Camacho D (2019) Weighted strategies to guide a multi-objective evolutionary algorithm for multi-UAV mission planning. Swarm Evolut Comput 44:480–495 Cianchetti, M., Mattoli, V., Mazzolai, B., Laschi, C. & Dario, P. A new design methodology of electrostrictive actuators for bio-inspired robotics. Sensors and Actuators B: Chemical 142, 288–297, https://doi.org/10.1016/j.snb.2009.08.039 (2009).

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Rodrigue, H., Wang, W., Han, M.-W., Kim, T. J. Y. & Ahn, S.-H. An overview of shape memory alloy-coupled actuators and robots. Soft robotics 4, 3–15, https://doi.org/10.1089/soro.2016.0008 (2017).

Manfredi, L., Putzu, F., Guler, S., Huan, Y. & Cuschieri, A. 4 DOFs hollow soft pneumatic actuator - HOSE. Materials Research Express 6, 045703, https://doi.org/10.1088/2053-1591/aaebea (2019).

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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).Tolley, M. T. et al. A resilient, untethered soft robot. Soft Robotics 1, 213–223, https://doi.org/10.1089/soro.2014.0008 (2014). Franchetti, M. & Kress, C. An economic analysis comparing the cost feasibility of replacing injection molding processes with emerging additive manufacturing techniques. The International Journal of Advanced Manufacturing Technology 88, 2573–2579, https://doi.org/10.1007/s00170-016-8968-7 (2017). The use of soft materials has the advantage of reducing the forces applied to the colonic wall and consequently diminishing pain and discomfort to the patient during the procedure. Because of the low mechanical stiffness, a soft robot can perform dexterous movements and follows the 3D-shape contours of the colonic lumen without the need of a complex active closed-loop control 20. An additional advantage of using soft materials is the low production costs 21. The body of the robot can be produced by “injection moulding” at a very low cost 22, enabling the robot to be marked as a disposable device and thus avoiding the issues of cleaning, disinfection, and maintenance. This will drastically reduce the health care costs compared to the traditional optical colonoscopy and also the overall acceptability by patients. Liu, Y. et al. Haustral loop extraction for ct colonography using geodesics. International journal of computer assisted radiology and surgery 12, 379–388, https://doi.org/10.1007/s11548-016-1497-x (2017).