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Applied Bionics and Biomechanics
Volume 8, Issue 2, Pages 267-277

Stomach Simulator for Analysis and Validation of Surgical Endoluminal Robots

Sara Condino,1 Kanako Harada,2 Nicola Ng Pak,2 Marco Piccigallo,2 Arianna Menciassi,2 and Paolo Dario2

1EndoCAS Center, Dipartimento di Oncologia dei Trapianti e delle Nuove Tecnologie in Medicina, University of Pisa, Pisa, Italy
2The Biorobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy

Copyright © 2011 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.