Bio-inspired solutions for locomotion in the gastrointestinal tract: background and perspectives.

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.

Analysis and development of locomotion devices for the gastrointestinal tract.

The authors are developing devices for semi-autonomous or autonomous locomotion in the gastrointestinal (GI) tract. In this paper, they illustrate the systematic approach to the problem of "effective" locomotion in the GI tract and the critical analysis of "inchworm" locomotion devices, based on extensor and clamper mechanisms. The fundamentals of locomotion and the practical problems encountered during the development and the testing (in vitro and in vivo) of these devices are discussed.

Grasping and dissecting instrument for hand-assisted laparoscopic surgery: development and early clinical experience.

Background: The operative potential of hand-assisted laparoscopic surgery (HALS) could be enhanced by the introduction of a new generation of assisting instruments. These tools will have to meet specific requirements of shape, function, and safety of use.

Methods: Problems related to the working environment of HALS and deriving projectual restrictions of HALS instruments were analyzed in order to develop and manufacture a working prototype with grasping and dissecting properties to assist during HALS procedures.