Title :
Locomotion of a legged capsule in the gastrointestinal tract: theoretical study and preliminary technological results
Author :
Menciassi, A. ; Stefanini, C. ; Gorini, S. ; Pernorio, G. ; Kim, B. ; Park, J.O. ; Dario, P.
Author_Institution :
CRIM Lab., Scuola Superiore Sant´´ Anna, Pontedera, Italy
Abstract :
This work 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 :
endoscopes; legged locomotion; medical robotics; microactuators; microrobots; patient diagnosis; patient treatment; deformable substrates; endoscopy; gastrointestinal tract; leg actuation; legged capsule; legged locomotion; microactuation; therapeutic purposes; Biomedical engineering; Deformable models; Endoscopes; Gastrointestinal tract; Leg; Legged locomotion; Medical diagnostic imaging; Medical simulation; Performance evaluation; Testing; capsular endoscopy; legged locomotion; microactuation;
Conference_Titel :
Engineering in Medicine and Biology Society, 2004. IEMBS '04. 26th Annual International Conference of the IEEE
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-8439-3
DOI :
10.1109/IEMBS.2004.1403791
