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Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope

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
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.2000.844825DOIArticle
Additional Information:© 2000 IEEE.
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:03 Oct 2019 21:24

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