Analysis and development of locomotion devices for the gastrointestinal tract

Phee, Soo Jay; Accoto, Dino; Menciassi, Arianna; Stefanini, Cesare; Carrozza, M.C.; Dario, P.

doi:10.1109/tbme.2002.1001976

Cited by 189 publications

(97 citation statements)

References 6 publications

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“…35 The prototype consists of a pneumatic actuator/extender and a clamper to mechanically secure onto the walls of the intestine. The blind device (24 mm in diameter and 115-195 mm in length) was externally tethered with flexible air tubings to a pneumatic pump.…”

Section: A1 Active Locomotionmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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Wireless capsule endoscopy (WCE) is a powerful tool for medical screening and diagnosis, where a small capsule is swallowed and moved by means of natural peristalsis and gravity through the human gastrointestinal (GI) tract. The camera-integrated capsule allows for visualization of the small intestine, a region which was previously inaccessible to classical flexible endoscopy. As a diagnostic tool, it allows to localize the sources of bleedings in the middle part of the gastrointestinal tract and to identify diseases, such as inflammatory bowel disease (Crohn's disease), polyposis syndrome, and tumors. The screening and diagnostic efficacy of the WCE, especially in the stomach region, is hampered by a variety of technical challenges like the lack of active capsular position and orientation control. Therapeutic functionality is absent in most commercial capsules, due to constraints in capsular volume and energy storage. The possibility of using body-exogenous magnetic fields to guide, orient, power, and operate the capsule and its mechanisms has led to increasing research in Magnetically Guided Capsule Endoscopy (MGCE). This work shortly reviews the history and state-of-art in WCE technology. It highlights the magnetic technologies for advancing diagnostic and therapeutic functionalities of WCE. Not restricting itself to the GI tract, the review further investigates the technological developments in magnetically guided microrobots that can navigate through the various air-and fluid-filled lumina and cavities in the body for minimally invasive medicine.

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Section: A1 Active Locomotionmentioning

confidence: 99%

Magnetically guided capsule endoscopy

et al. 2017

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“…Figure 2 shows the sequence for the forward movement of the colonoscopic robot. The previous research proved that the inchworm-like locomotion is effective in colon (11) . However, due to repeated change of body length for locomotion, it is very difficult to integrate the rigid tools like a biopsy.…”

Section: 1 Locomotive Body With a Hollow Spacementioning

confidence: 99%

Inchworm-Like Colonoscopic Robot with Hollow Body and Steering Device

Kim

Lim

Park

et al. 2006

JSME Int. J., Ser. C

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Unskillful operation and rough handling of conventional colonoscope, especially at the sigmoid colon, may lead to perforation or splitting the colon wall. Thus, it is crucial to develop autonomous or semi-autonomous colonoscopes that do not require physical force by the doctors for their motions. In this paper, we report the design and development of a colonoscopic robot system that has a locomotive function based on inchworm-like motion, with a hollow body and a steering system that consists of three pneumatic bellows of 7 mm diameter, each located 120• apart from the others at the head part. The steering device can bend up to approximately 90• . In order to evaluate the performance of the colonoscopic robot, in-vitro tests and in-vivo tests were carried out. The experimental results show the feasibility of the prototype colonoscopic robot being used for diagnosis and treatments in colon.

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“…The Heartlander robot was developed to crawl on the heart during cardiac surgery [17], while other locomotion devices have been designed to assist with gastrointestinal procedures [18]. These devices address fundamentally different problems than those of the abdominal cavity.…”

Section: A Robot-assisted Endoscopymentioning

confidence: 99%

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

et al. 2006

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Abstract-Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch the surgical environment directly. These limitations generally restrict the application of laparoscopy to procedures less complex than those performed during open surgery. This paper presents a theoretical and experimental analysis of miniature, wheeled, in vivo robots to support laparoscopy. The objective is to develop a wireless mobile imaging robot that can be placed inside the abdominal cavity during surgery. Such robots will allow the surgeon to view the surgical environment from multiple angles. The motion of these in vivo robots will not be constrained by the insertion incisions. Simulation and experimental analyses have led to a wheel design that can attain good mobility performance in in vivo conditions.

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Analysis and development of locomotion devices for the gastrointestinal tract

Cited by 189 publications

References 6 publications

Magnetically guided capsule endoscopy

Magnetically guided capsule endoscopy

Inchworm-Like Colonoscopic Robot with Hollow Body and Steering Device

Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility

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