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[video:https://youtu.be/FmeW5ITtJ4Y] Abstract: Goal: Development of a new medical device class generally termed robotic capsule endoscopes (RCE) is currently being pursued by multiple research groups. These maneuverable devices will allow

Abstract: Wireless capsule endoscopes are becoming prevalent in the medical field as screening, diagnostic and therapeutic tools within the gastrointestinal (GI) tract. However, state-of-the art capsules lack active locomotion systems, which

Abstract: Understanding the biomechanical properties of the small intestine is necessary for developing in vivo mobility systems for miniature robots. In this work, we have experimentally determined preconditioning parameters and then performed

Abstract: Wheel-driven mobile in vivo robotic devices can provide an unconstrained platform for visualization and task performance. Careful understanding of the wheel–tissue interaction is necessary to predict in vivo 

Abstract: This study aims to produce experimental results for the coefficient of friction (COF) between the small bowel lumen and an edgeless, translating sled. Friction was measured as a function of sled speed under in situ and in vitro

Abstract: Robotic capsule endoscopy (RCE), where a robotically controlled capsule endoscope is used to navigate the gastrointestinal tract, is a developing technology currently hindered by mobility challenges within the small bowel. This

Abstract: Viscoelastic models are generally considered a good option for modeling biological tissue due to tissue time-dependency. However, although various forms of viscoelastic models have been developed, only a few have shown a good balance

Abstract: The development of robotic capsule endoscopes (RCEs) is one avenue presently investigated by multiple research groups to minimize invasiveness and enhance outcomes of enteroscopic procedures. Understanding the biomechanical response of the

Abstract: Multiple research groups are investigating the feasibility of miniature, swallowable, in vivo, untethered robots that are capable of traversing the small intestine for the purpose of acquiring biometrics and performing simple surgical

Abstract: The intraluminal pressures and traction forces associated with the migrating motor complex are well understood; however, the contact forces directly exerted by the bowel wall on a solid, or near solid, bolus have not previously been