Analysis and development of locomotion devices for the gastrointestinal tract

被引：138

作者：

Phee, L ^{[1
]}

Accoto, D ^{[1
]}

Menciassi, A ^{[1
]}

Stefanini, C ^{[1
]}

Carrozza, MC ^{[1
]}

Dario, P ^{[1
]}

机构：

[1] Scuola Super Sant Anna, MiTech Lab, I-56127 Pisa, Italy

来源：

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING | 2002年 / 49卷 / 06期

关键词：

colonoscopy; inchworm locomotion;

D O I：

10.1109/TBME.2002.1001976

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The authors are developing devices for semi-autonomous or autonomous locomotion in the gastrointestinal (GI) tract. In this paper, they illustrate the systematic approach to the problem of "effective" locomotion in the GI tract and the critical analysis of "inchworm" locomotion devices, based on extensor and clamper mechanisms. The fundamentals of locomotion and the practical problems encountered during the development and the testing (in vitro and in vivo) of these devices are discussed. A mini device capable of propelling itself in the colon and suitable to perform, at least, rectum-sigmoidoscopy (the tract where approximately 60% of all colon cancers are found) is presented. This paper introduces preliminary, but useful, concepts for understanding, modeling and improving the performance of virtually any existing and novel devices for endoscopy of the GI tract.

引用

页码：613 / 616

页数：4