Analysis and development of locomotion devices for the gastrointestinal tract
Analysis and development of locomotion devices for the gastrointestinal tract
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DOI：
10.1109/tbme.2002.1001976
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发表时间：
2002-06-01
影响因子：
4.6
通讯作者：
Dario, P
中科院分区：
文献类型：
--
作者：
Phee, L;Accoto, D;Dario, P
作者正在开发半自主或自主运动的装置在胃肠道（GI）。在本文中，他们阐述了系统的方法来解决“有效”运动在胃肠道和“尺蠖”运动装置的关键分析，基于伸肌和夹钳机构的问题。讨论了运动的基本原理以及在这些装置的开发和测试（体外和体内）过程中遇到的实际问题。一种能够在结肠中自我推进的小型装置，至少适用于直肠乙状结肠镜检查（大约60%的结肠癌发生在直肠乙状结肠）。本文介绍了初步但有用的概念，用于理解，建模和改进几乎任何现有的和新型的胃肠道内窥镜检查设备的性能。
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.