Høeg, H. D. and Slatkin, A. B. and Burdick, J. W. and Grundfest, Warren S. (2000) Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope. In: Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings. Vol.2. IEEE , Piscataway, NJ, pp. 1599-1606. ISBN 0-7803-5886-4. https://resolver.caltech.edu/CaltechAUTHORS:20190624-110541195
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Abstract
This paper discusses biomechanical issues that are related to the locomotion of a robotic endoscope in the human small intestine. The robot propels itself by pushing against the intestinal walls, much like a pipe crawler. However, the small intestine is not a rigid pipe; and locomotion in it is further complicated by the fact that the bowel is susceptible to damage. With the goal of engineering a safe and reliable machine, the biomechanical properties of the small bowel are studied and related to the mechanics of robotic endoscope locomotion through the small intestine.
| Item Type: | Book Section | ||||||
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| Additional Information: | © 2000 IEEE. | ||||||
| DOI: | 10.1109/ROBOT.2000.844825 | ||||||
| Record Number: | CaltechAUTHORS:20190624-110541195 | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20190624-110541195 | ||||||
| Official Citation: | H. D. Hoeg, A. B. Slatkin, J. W. Burdick and W. S. Grundfest, "Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope," Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), San Francisco, CA, USA, 2000, pp. 1599-1606 vol.2. doi: 10.1109/ROBOT.2000.844825 | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 96664 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | Tony Diaz | ||||||
| Deposited On: | 24 Jun 2019 18:20 | ||||||
| Last Modified: | 16 Nov 2021 17:22 |
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