This paper concerns a biomechanical study to determine the efficiency of the motion of endoscopic robots in the colon. A quasi-linear viscoelastic model for soft tissues has been introduced to determine the mechanical behavior of colon and mesenteries. A study of efficiency of the phases of the motion, through biomechanical and geometrical factors, allowed to calculate the critical stroke to perform motion inside intestinal walls. This study has provided the guidelines to design a high-stroke pneumatic prototype for colonoscopy. In-vivo tests have been performed and have shown high efficiency of the robot in navigating inside pig’s intestine: the performances of the semiautonomous robot have achieved those of a traditional colonoscope in terms of travelled length.
Modelling and Experimental Validation of the Locomotion of Endoscopic Robots in the Colon
2003-06-30
9 pages
Article/Chapter (Book)
Electronic Resource
English
Modelling and Experimental Validation of Articulated Mobile Robots with Hybrid Locomotion System
Springer Verlag | 2020
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