Menciassi Arianna, Dario Paolo
Center for Research in Microengineering, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà, 33, 56127 Pisa, Italy.
Philos Trans A Math Phys Eng Sci. 2003 Oct 15;361(1811):2287-98. doi: 10.1098/rsta.2003.1255.
This paper illustrates a bio-inspired approach to effective, smooth and safe navigation in the human body and, in particular, in the gastrointestinal tract. This idea originates from the medical need to develop more powerful tools for microendoscopy, which is one of the most challenging frontiers of modern medicine. Understanding motion and perception systems of lower animal forms, such as parasites, worms, insects and snakes, can help to design and fabricate bio-inspired robots able to navigate in tortuous, slippery and difficult-to-access cavities of the human body. A preliminary study of a biomimetic adhesion system for the human tissues is presented in this work and some technological implementations are illustrated and discussed. Finally, some issues concerning the goals of smart and reactive locomotion are considered and the most promising and relevant enabling technologies are discussed.
本文阐述了一种受生物启发的方法，用于在人体尤其是胃肠道中实现有效、平稳且安全的导航。这一想法源于医学上对开发更强大的微内窥镜工具的需求，微内窥镜是现代医学最具挑战性的前沿领域之一。了解诸如寄生虫、蠕虫、昆虫和蛇等低等动物的运动和感知系统，有助于设计和制造受生物启发的机器人，使其能够在人体曲折、滑溜且难以进入的腔体内导航。本文介绍了对人体组织仿生粘附系统的初步研究，并阐述和讨论了一些技术实现。最后，考虑了与智能和反应式运动目标相关的一些问题，并讨论了最有前景和相关性的使能技术。
