Robotic Colonoscopy
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N3.1-B2c-17
(65) 6790 4959 (Office)
(65) 6791 1859 (International)
(65) 6792 4062 (Local)
Author: –
Last Update: 5 Jan 2006 (Completed project)
PROJECT DESCRIPTION:
Abstract
Most gastrointestinal (GI) endoscopy procedures are unpleasant for the patient and are technically demanding for the endoscopist. We are developing devices for semi-autonomous or autonomous locomotion in the GI tract, based on an inchworm mechanism.
They should be introduced into the anus or mouth and will carry the vision system and other endoscopic tools to the area of interest without causing discomfort to the patient.
We are also approaching the problem of locomotion mechanisms for wireless pill-size mini-cameras able to perform an effective and reliable diagnosis in all the gastrointestinal tract by inspecting all the gastrointestinal wall. The capsules, but in general each device for endoscopy, must be able to stop, go forward and backward, and rotate in order to perform diagnosis and, in future, biopsy and localized therapy.
Some preliminary concepts and prototypes of inchworm locomotion solutions for the GI tract, essentially based on an elongation mechanism and different clamping mechanisms were developed and experimentally tested.
Publication
- A. Menciassi, A. Arena, L. Phee, D. Accoto, C. Stefanini, G. Pernorio, S. Gorini, M. Boccadoro, M. C. Carrozza, P. Dario "Locomotion Issues and Mechanisms for Microrobots in the Gastrointestinal Tract", 32nd International Symposium on Robotics, Korea, April 2001.