Stomach simulator for analysis and validation of surgical endoluminal robots

A testing environment that imitates gastric geometry and contractile activity is necessary to analyse and validate endoluminal surgical robotic devices developed for gastric pathologies. To achieve this goal, a silicone stomach model and a mechanical setup to simulate gastric contractile motion were designed and fabricated. The developed stomach simulator was validated and its usefulness was demonstrated by means of internal pressure measurements and self-assembly tests of mock-ups of capsule devices. The results demonstrated that the stomach simulator is helpful for quantitative evaluation of endoluminal robotic devices before in-vitro/in-vivo experiments.

[1]  Christian Cipriani,et al.  Principal components analysis based control of a multi-dof underactuated prosthetic hand , 2010, Journal of NeuroEngineering and Rehabilitation.

[2]  P ? ? ? ? ? ? ? % ? ? ? ? , 1991 .

[3]  L. Mendoza,et al.  Physical model of the stomach motor activity , 1997, Proceedings of the 19th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. 'Magnificent Milestones and Emerging Opportunities in Medical Engineering' (Cat. No.97CH36136).

[4]  GREGERSEN,et al.  Development of a computer‐controlled tensiometer for real‐time measurements of tension in tubular organs , 1999, Neurogastroenterology and motility : the official journal of the European Gastrointestinal Motility Society.

[5]  Paolo Dario,et al.  Wireless reconfigurable modules for robotic endoluminal surgery , 2009, 2009 IEEE International Conference on Robotics and Automation.

[6]  P. Dario,et al.  Design and Fabrication of a Motor Legged Capsule for the Active Exploration of the Gastrointestinal Tract , 2008, IEEE/ASME Transactions on Mechatronics.

[7]  D. Oleynikov,et al.  The current state of miniature in vivo laparoscopic robotics , 2007, Journal of robotic surgery.

[8]  James G Brasseur,et al.  Gastric flow and mixing studied using computer simulation , 2004, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[9]  K. Arai,et al.  Fabrication of magnetic actuator for use in a capsule endoscope , 2003 .

[10]  Byungkyu Kim,et al.  Design and fabrication of a locomotive mechanism for capsule-type endoscopes using shape memory alloys (SMAs) , 2005, IEEE/ASME Transactions on Mechatronics.

[11]  Ho-Young Song,et al.  167-172 Xu He , 2005 .

[12]  J D Chen,et al.  Clinical applications of electrogastrography. , 1993, The American journal of gastroenterology.

[13]  L. Zocchi,et al.  Principi di fisiologia , 2012 .

[14]  Paolo Dario,et al.  Propeller-based wireless device for active capsular endoscopy in the gastric district , 2009, Minimally invasive therapy & allied technologies : MITAT : official journal of the Society for Minimally Invasive Therapy.

[15]  Taehan Pangsasŏn Ŭihakhoe.  Korean journal of radiology : official journal of the Korean Radiological Society , 2000 .

[16]  P. Eilers,et al.  Gastric motility: comparison of assessment with real-time MR imaging or barostat measurement initial experience. , 2002, Radiology.

[17]  Abhay S Pandit,et al.  Using computed tomography scans to develop an ex-vivo gastric model. , 2007, World journal of gastroenterology.

[18]  Jake J. Abbott,et al.  Experimental investigation of magnetic self-assembly for swallowable modular robots , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[19]  George B. Johnson.  Biology: Visualizing Life , 1966 .

[20]  Barney M. Berlin,et al.  Size , 1989, Encyclopedia of Evolutionary Psychological Science.

[21]  A. Csendes,et al.  Size, Volume and Weight of the Stomach in Patients with Morbid Obesity Compared to Controls , 2005, Obesity surgery.