Analytical Friction Model of the Capsule Robot in the Small Intestine

Zhang, Cheng; Líu, Hao

doi:10.1007/s11249-016-0774-8

Cited by 17 publications

(14 citation statements)

References 31 publications

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“…Analysis of friction is gaining interest in gastroenterology [24] , [25] . For Fecobionics (simulating feces) to be expelled through the anorectum, a variety of forces acting on it must be overcome ( Fig.…”

Section: Introductionmentioning

confidence: 99%

Mechanophysiological analysis of anorectal function using simulated feces in human subjects

Sun

Liao

Chen

et al. 2021

Journal of Advanced Research

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Section: Introductionmentioning

confidence: 99%

Mechanophysiological analysis of anorectal function using simulated feces in human subjects

Sun

Liao

Chen

et al. 2021

Journal of Advanced Research

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“…The push force produced by the actuator (

F_{A}

) would be resisted by the peristaltic force (

F_{p}

) and frictional force (

f

) as shown in Equation . The frictional forces inside the intestine are threefold which are shown in Equation ; coulomb friction (

f_{c}

) is the stress applied by the intestinal wall, marginal resistance (

f_{m}

) is the hindrance caused by the intestinal deformation and viscous resistance (

f_{v}

) is the interference due to the mucus and digesta above the epithelium layer 24–26 . The forces acting on the sampler while moving against the intestinal wall are shown in Figure 5.…”

Section: Methodsmentioning

confidence: 99%

“…Another study specified that the total frictional force imposed on the capsule is 56.9 mN 25 . A detailed study of frictional forces imposed on a capsule robot determined that the viscous friction inside the small intestine is 0.74 mN, the coefficient of friction varied between 0.008 and 0.018 throughout the small intestine and the cumulative frictional force fluctuated between 22.68 and 35.09 mN inside the small intestine 26 . Therefore, based on the above studies, 24–26 we can estimate that the frictional resistance between the small intestine and capsule robot is less than 200 mN.…”

Section: Methodsmentioning

confidence: 99%

Capsule robot for gut microbiota sampling using shape memory alloy spring

Rehan

Al‐Bahadly

Thomas

et al. 2020

Robotics Computer Surgery

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Background: Human gut microbiota can provide lifelong health information and even influence mood and behaviour. We currently lack the tools to obtain a microbial sample, directly from the small intestine, without contamination. Methods: Shape memory alloy springs are used in concentric configuration to develop an axial actuator. A novel design of sampling mechanism is fabricated for collecting the sample from the gut. Storage chamber (500 µl) is used to protect the sample from downstream contamination. Results: The developed actuator occupies a small space (5 � Ø5.75 mm) and produces sufficient output force (1.75 N) to operate the sampling mechanism. A noninvasive capsule robot was tested ex vivo on the animal intestine, and it captured an average of 134 µl content which was sufficient for microbiome assessment. Conclusions: Laboratory testing revealed that the collected sample had an amino acid signature indicative of microbiota, mucus and digesta, which provided a proof of concept for the proposed design. K E Y W O R D S capsule robot, GI tract, gut microbiota, intestine, micro robot 1 | INTRODUCTION A significant population of microorganisms (bacteria, archaea and fungi) live inside the gastrointestinal (GI) tract, play a major role in fibre fermentation and the synthesis of short-chain fatty acids, and some nutrients (e.g., vitamins), and are collectively known as microbiota. 1 Human intestinal microbiota consist of 10 13-10 14 microorganisms which can act as biomarkers. 2 The microbiota, present in the GI tract, contain lifelong information on the health of an individual and can assist in early diagnosis of diseases such as cancer, diabetes and obesity. 3-5 Several researchers believe that analysis of microbiota could be helpful in predicting obesity, diabetes and inflammatory bowel disease. 3-6 Microbiota can also help to study the relationship or interaction between nutrition and human health. 3 Given the significance of gut microbiota, it is critical to explore its ecology. Microbiota colonise the mucous layer which covers the columnar epithelium of the GI tract and the digesta within the intestinal lumen. 7 The population of microorganisms (microbiota) inside the intestine has been studied using various methods. The most common samples used as a proxy for intestinal microbiota are fecal samples; however, they do not categorise spatial inhabitants, and it is not possible to localise them. Similarly, they lack temporal information and cannot reciprocate real-time gut environment as they are examined after travelling through the entire GI tract, which exposes the sample to contamination. 8 Some efforts have been made in obtaining samples from the human gut with biopsy; however, it is a tethered method which largely restricts its use to the large intestine. 9,10 Furthermore, tethered methods involve a high risk of gut perforation, bleeding and require sedation, and the procedure is also invasive and unpleasant for a patient in terms of comfort. 10 Most importantly, the sample obtained by biopsy is a tissue s...

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“…At a higher axial speed, a higher frictional resistance would be caused. Then, referring to researchers in previous work [ 27 , 28 ], the expanding time is set as a range of 1–2 s, and the axial speed is set as

. In order to meet the demands above, the motor and reducers should be picked and designed carefully, and are listed in Table 2 .…”

Section: Methodsmentioning

confidence: 99%

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

et al. 2020

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Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine.

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Analytical Friction Model of the Capsule Robot in the Small Intestine

Cited by 17 publications

References 31 publications

Mechanophysiological analysis of anorectal function using simulated feces in human subjects

Mechanophysiological analysis of anorectal function using simulated feces in human subjects

Capsule robot for gut microbiota sampling using shape memory alloy spring

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases

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