| Towards active capsular endoscopy: preliminary results on a legged platform. | |
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MedLine Citation:
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PMID: 17946504 Owner: NLM Status: MEDLINE |
Abstract/OtherAbstract:
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This paper illustrates the problem of active locomotion in the gastrointestinal tract for endoscopic capsules. Authors analyze the problem of locomotion in unstructured, flexible and tubular environments and explain the reasons leading to the selection of a legged system. They present a theoretical simulation of legged capsule locomotion, which is used to define the optimal parameters for capsule design and gait selection. Finally, a legged capsule--about 3 cm3 in volume--is presented; it consists of 4 back legs whose actuation is achieved thanks to a miniaturized DC brushless motor. In vitro tests demonstrate good performance in terms of achievable speed (92 mm/min). |
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Authors:
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Arianna Menciassi; Cesare Stefanini; Giovanni Orlandi; Marco Quirini; Paolo Dario |
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Publication Detail:
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Type: Evaluation Studies; Journal Article; Research Support, Non-U.S. Gov't |
Journal Detail:
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Title: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference Volume: 1 ISSN: 1557-170X ISO Abbreviation: Conf Proc IEEE Eng Med Biol Soc Publication Date: 2006 |
Date Detail:
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Created Date: 2007-10-23 Completed Date: 2008-03-13 Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 101243413 Medline TA: Conf Proc IEEE Eng Med Biol Soc Country: United States |
Other Details:
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Languages: eng Pagination: 2215-8 Citation Subset: IM |
Affiliation:
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Scuola Superiore Sant' Anna, Pisa, Italy. arianna@sssup.it |
Export Citation:
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APA/MLA Format Download EndNote Download BibTex |
| MeSH Terms | |
Descriptor/Qualifier:
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Animals Biomimetics / instrumentation* Capsule Endoscopes* Equipment Design Equipment Failure Analysis Gastrointestinal Tract / surgery* Humans Locomotion Miniaturization Motion Robotics* Video Recording / instrumentation* |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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