Dario, P Ciarletta, P Menciassi, A Kim, B 2024-01-21T07:13:20Z 2024-01-21T07:13:20Z 2021-09-02 2004-04 0278-3649 https://pubs.kist.re.kr/handle/201004/137724 In this paper we present a biomechanical study to evaluate the efficiency, of the motion of endoscopic robots in the colon, with a special focus on "inchworm" locomotion. A quasi-linear viscoelastic model for soft tissues has been introduced in order to find the mechanical behavior of colon and mesenteries. A study of efficiency of the motion phases, through biomechanical and geometrical factors, allowed its to calculate the "critical stroke" to perform motion inside intestinal walls. This study has provided the guidelines to design a high-stroke pneumatic robotic prototype for colonoscopy Phantom and in vivo tests have been extensively performed and have shown high efficiency of the robot in navigating inside a pig's intestine; the performance of the semi-autonomous robot has achieved that of traditional colonoscopes in terms of traveled colon length. English SAGE PUBLICATIONS LTD Modeling and experimental validation of the locomotion of endoscopic robots in the colon Article 10.1177/0278364904042204 1 INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, v.23, no.4-5, pp.549 - 556 INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH 23 4-5 549 556 scie scopus 000221631700015 2-s2.0-2442685306 Robotics Robotics Article; Proceedings Paper robotic colonoscopy inchworm locomotion intestinal soft tissues viscoelasticity fluoroscopy