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Full-Text Articles in Biomedical Engineering and Bioengineering
Experimental Analysis And Modeling Of Robot-Tissue Contact Mechanics For In Vivo Mobility, Levin John Sliker
Mechanical Engineering Graduate Theses & Dissertations
Robotic mobility within the gastrointestinal (GI) tract is an intriguing concept, which has received wide attention from within the research community over the past ten years. Capsule endoscopes (CEs) exist commercially, but lack an active mobility system, rendering them as passive devices. These passive devices are only capable of observational procedures, and are limited by the passive speed (dependent on intestinal peristalsis), inability to control orientation, and vulnerability to retention, requiring surgical removal in severe cases. Additionally, passive capsules take photos throughout their journey, resulting in a compilation of thousands of images, which can take the attending physician hours to ...