Analytical model development for the prediction of the frictional resistance of a capsule endoscope inside an intestine

Js, Kim; Sung, In-Ha; Yt, Kim; De, Kim; Yh, Jang

doi:10.1243/09544119jeim173

Cited by 57 publications

(41 citation statements)

References 9 publications

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“…A five-element model is used to describe the viscoelastic property of the intestinal stress relaxation [13]. Furthermore, the group first developed an analytical model for the frictional resistance prediction, which was verified by finite element analyses [14]. Wang and Meng [15] and Wang and Yan [16] studied frictional resistance changes under the influence of the shape, diameter and velocity of the capsule robot as well.…”

Section: Introductionmentioning

confidence: 99%

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

et al. 2012

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A model is first built for predicting the velocity-dependent frictional resistance of a capsule robot that moves inside the intestine in the paper. The capsule robot plays a more and more important role in checking diseases in the intestine. This study aims to optimize the locomotion mechanism and the control strategy of the capsule robot. The model consists of three parts: environmental resistance, viscous friction, and Coulomb friction. Environmental resistance is induced by the stress due to the viscoelastic deformation of the intestinal wall. Viscous friction is analyzed according to the apparent viscosity of intestinal mucus. Coulomb friction is a product of the local contact pressure and the Coulomb friction coefficient. In order to analyze the effects of the intestinal deformation, a five-element model is used to describe the stress relaxation of the intestinal material. Experimental investigation is used to identify the model parameters with homemade physical simulation measurement system and fixtures. Finally, the model's validity is verified by experimental results. It is shown that the model predicting results can fit the experimental results well when the moving velocity of the capsule is lower than 20 mm/s. The R 2 of these two sets of data is 0.8769. But at a higher velocity, there are significant differences between the two results and the R 2 declines to 0.1666. The friction model is expected to be useful in the development of the medical equipment in the intestine and the study of biomechanics of the intestine.

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Section: Introductionmentioning

confidence: 99%

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

et al. 2012

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“…For comparison, the Given Imaging PillCam SB2 is 26 mm in length, 11 mm in diameter, 3.5 g in mass. Having a larger capsule for measuring resistance properties does not jeopardize the relevance of the results, as long as the animal model selected takes into account the appropriate scaling factors (i.e., diameter and size of human colon (Hounnou et al 2002), diameter and size of porcine colon as a function of body weight (Miller & Ullrey 1987), resistant properties of capsule endoscopes as a function of size, surface and diameter of the capsule (Kim et al 2007, Wang & Meng 2010). …”

Section: Platform Overviewmentioning

confidence: 99%

“…An extensive quantification of resistance properties of the different GI segments -outside the scope of this paper -can then be obtained by adopting the proposed methods. The same approach would also enable gathering reliable data for implementing realistic biomechanical models of the GI tract (Kim et al 2007, Bellini et al 2011, Zhang et al 2012, Zhou et al 2013). …”

Section: Introductionmentioning

confidence: 99%

A wireless platform forin vivomeasurement of resistance properties of the gastrointestinal tract

et al. 2014

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Abstract. Active locomotion of wireless capsule endoscopes has the potential improve the diagnostic yield of this painless technique for the diagnosis of gastrointestinal tract disease. In order to design effective locomotion mechanisms, a quantitative measure of the propelling force required to effectively move a capsule inside the gastrointestinal tract is necessary.In this study, we introduce a novel wireless platform that is able to measure the force opposing capsule motion, without perturbing the physiologic conditions with physical connections to the outside of the gastrointestinal tract. The platform takes advantage of a wireless capsule that is magnetically coupled with an external permanent magnet. A secondary contribution of this manuscript is to present a real-time method to estimate the axial magnetic force acting on a wireless capsule manipulated by an external magnetic field. In addition to the intermagnetic force, the platform provides real-time measurements of the capsule position, velocity, and acceleration.The platform was assessed with benchtop trials within a workspace that extends 15 cm from each side of the external permanent magnet, showing average error in estimating the force and the position of less than 0.1 N and 10 mm, respectively. The platform was also able to estimate the dynamic behavior of a known resistant force with an error of 5.45%. Finally, an in vivo experiment on a porcine colon model validated the feasibility of measuring the resistant force in opposition to magnetic propulsion of a wireless capsule.

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“…Woo et al [17] regarded the intestinal wall as a thin wall and used Stokes' drag equation. Kim et al [18] used the viscoelasticity model and built a five-element model to present the viscoelastic property of stress relaxation. Every model has its own advantage and should be used in accordance with specific conditions.…”

Section: Introductionmentioning

confidence: 99%

Analytical Friction Model of the Capsule Robot in the Small Intestine

Zhang

Líu

2016

Tribol Lett

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One of the most important reasons that make the capsule robot cannot be used in clinic is the absence of its mechanical model, especially when the capsule robot moves at a constant velocity, which is its major working condition. An analytical friction model of the capsule robot in the small intestine is researched in the paper. The model is based on the size of the capsule robot, hyperelastic constitutive model of the small intestine's material and their interaction properties. Analytical expressions of timedependent frictional resistance are obtained and curves are plotted when all the parameters are substituted. Compared with experimental results, the model calculation results are valid. The errors of the period, valley value and peak value are 6.88, 9.38 and 4.78 %, respectively. The work is hoped to perfect the friction model between the capsule robot and the small intestine and contribute to the development of the capsule robot.

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Analytical model development for the prediction of the frictional resistance of a capsule endoscope inside an intestine

Cited by 57 publications

References 9 publications

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

A wireless platform forin vivomeasurement of resistance properties of the gastrointestinal tract

Analytical Friction Model of the Capsule Robot in the Small Intestine

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