Biomechanical Modeling of the Small Intestine as Required for the Design and Operation of a Robotic Endoscope

This paper discusses biomechanical issues that are related to the locomotion of a robotic endoscope in the human small intestine. The robot propels itself by pushing against the intestinal walls much like a pipe crawler. However, the small intestine is not a rigid pipe, and locomotion in it is further complicated by the fact that the bowel is susceptible to damage. With the goal of engineering a safe and reliable machine, the biomechanical properties of the small bowel are studied and related to the mechanics of robotic endoscope locomotion through the small intestine.