Locomotion Analysis of an Inchworm-Like Capsule Robot in the Intestinal Tract.
Journal:
IEEE transactions on bio-medical engineering
PMID:
26186765
Abstract
GOAL: Inchworm-like locomotion is one of the most common and effective approaches for exploring the intestinal tract. Here, we present a locomotion analysis for a typical inchworm-like capsule robot, which is composed of a locomotion unit and some functional modules that are installed at both ends. The locomotion unit consists of two clampers at both ends and an extensor at midsection, and the functional modules include the camera, microtools for diagnosis or therapy, etc.