{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T06:22:24Z","timestamp":1773296544233,"version":"3.50.1"},"reference-count":13,"publisher":"SAGE Publications","issue":"4-5","license":[{"start":{"date-parts":[[2004,4,1]],"date-time":"2004-04-01T00:00:00Z","timestamp":1080777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2004,4]]},"abstract":"<jats:p> 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 \u201cinchworm\u201d 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 us to calculate the \u201ccritical stroke\u201d 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\u2019s intestine; the performance of the semi-autonomous robot has achieved that of traditional colonoscopes in terms of traveled colon length. <\/jats:p>","DOI":"10.1177\/0278364904042204","type":"journal-article","created":{"date-parts":[[2004,5,27]],"date-time":"2004-05-27T13:25:01Z","timestamp":1085664301000},"page":"549-556","source":"Crossref","is-referenced-by-count":91,"title":["Modeling and Experimental Validation of the Locomotion of Endoscopic Robots                in the Colon"],"prefix":"10.1177","volume":"23","author":[{"given":"Paolo","family":"Dario","sequence":"first","affiliation":[{"name":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy"}]},{"given":"Pasquale","family":"Ciarletta","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy"}]},{"given":"Arianna","family":"Menciassi","sequence":"additional","affiliation":[{"name":"Scuola Superiore Sant\u2019Anna, CRIM Pisa, Italy"}]},{"given":"Byungkyu","family":"Kim","sequence":"additional","affiliation":[{"name":"Microsystem Center Korean Institute of Science and Technology Seoul, Korea"}]}],"member":"179","published-online":{"date-parts":[[2004,4,1]]},"reference":[{"key":"atypb1","unstructured":"Accoto, D., Stefanini, C., Phee, L., Arena, A., Pernorio, G., Menciassi, A., Carrozza, M.C., and Dario P. 2001. Measurements of the frictional properties of the gastrointestinal tract . Proceedings of the 2nd World Tribology Congress, Vienna, Austria, September 3\u20137, p. 728 ."},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"Carrozza, M. C., Lencioni, L., Magnani, B., Dario, P., Reynaerts, D., Trivella, M. G., and Pietrabissa, A. 1996. A microrobot for colonoscopy . Proceedings of the MSH 1996, Nagoya, Japan, pp. 223\u2013228 .","DOI":"10.1109\/MHS.1996.563428"},{"key":"atypb3","unstructured":"Cotton, P. B., Williams, C. B., and Sleisinger, M. H. 1990. Practical Gastrointestinal Endoscopy, Blackwell Scientific, Oxford ."},{"key":"atypb4","unstructured":"Fukuda, T., Hosokai, H., and Uemura, M. 1989. Rubber gas actuator driven by hydrogen storage alloy for in-pipe inspection mobile robot with flexible structure . Proceedings of the IEEE International Conference on Robotics and Automation, Scottsdale, AZ, pp. 1847\u20131852 ."},{"key":"atypb5","unstructured":"Fung, Y. C. 1993. Biomechanics: Mechanical Properties of Living Tissues, Springer-Verlag, New York ."},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Fung, Y. C., Fronek, K., and Patitucci P. 1979. Pseudoelasticity of arteries and the choice of its mathematical expression . American Journal of Physiology 237: 620\u2013 631 .","DOI":"10.1152\/ajpheart.1979.237.5.H620"},{"key":"atypb7","unstructured":"Green, A. E. and Adkins, J. E. 1960. Large Elastic Deformations and Nonlinear Continuum Mechanics, Oxford University Press, Oxford ."},{"key":"atypb8","unstructured":"Grundfest, S. W., Burdick, J. W., and Slatkin, A. B. 1995. The development of a robotic endoscope . Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 162\u2013171 ."},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"H\u00f8eg, H. D., Slatkin, A. B., and Burdick, J. W. 2000. Biomechanical modeling of the small intestine as required for the design and operation of a robotic endoscope . Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA, pp. 1599\u20131606 .","DOI":"10.1109\/ROBOT.2000.844825"},{"key":"atypb10","doi-asserted-by":"crossref","unstructured":"Menciassi, A., Park, J. H., Lee, S., Gorini, S., Dario, P., and Park, J.O. 2002. Robotic solutions and mechanisms for a semi-autonomous endoscope . Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and System, EPFL, Lausanne, Switzerland, Vol. 2, pp. 1379\u20131384 .","DOI":"10.1109\/IRDS.2002.1043947"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1109\/51.637122"},{"key":"atypb12","unstructured":"Phee, L., Arena, A., Menciassi, A., and Dario, P. 2001. Endoscopic device for locomotion through the gastrointestinal tract. Korean Patent PCT\/KR01\/00304."},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2002.1001976"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364904042204","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364904042204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,3]],"date-time":"2025-03-03T16:11:01Z","timestamp":1741018261000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364904042204"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,4]]},"references-count":13,"journal-issue":{"issue":"4-5","published-print":{"date-parts":[[2004,4]]}},"alternative-id":["10.1177\/0278364904042204"],"URL":"https:\/\/doi.org\/10.1177\/0278364904042204","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,4]]}}}