Title :
Legged locomotion in the gastrointestinal tract
Author :
Menciassi, A. ; Stefanini, Cesare ; Gorini, S. ; Pemorio, G. ; Dario, P. ; Kim, B. ; Park, J.O.
Author_Institution :
Scuola Superiore Sant´´Anna, Polo Sant´´Anna Valdera, Italy
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper illustrates the analysis of locomotion in the gastrointestinal tract obtainable by a legged capsule for diagnostic and therapeutic purposes. A preliminary simulation of the legged locomotion onto slippery and deformable substrates has been performed and -simultaneously - mechanisms for on board actuation of the legs have been developed and tested. Moreover, an engineering translation of medical needs in endoscopy is presented, with some ad hoc solutions for improving diagnostic capabilities.
Keywords :
legged locomotion; diagnostic capsule; gastrointestinal tract; legged capsule; legged locomotion analysis; onboard actuation; therapeutic purposes; Biomedical engineering; Deformable models; Endoscopes; Gastrointestinal tract; Leg; Legged locomotion; Medical diagnostic imaging; Medical simulation; Performance evaluation; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389473
