Clamping mechanism of capsule endoscopes in intestine

Wen-wen, 陈雯雯 Chen; Guo-zheng, 颜国正 Yan; Shu, 贺术 He; Quan, 柯全 Ke

doi:10.3788/ope.20132106.1553

Cited by 1 publication

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“…Various institutions have developed different structural forms of expanding mechanism. The expanding mechanism designed by Chen W.W. et al adopts the design of Archimedes’ spiral leg [20,21]. Its expanding force increases with the increase of expanding radius, which conforms to the mechanical properties of the intestine, but the tip of its expanding arm is too sharp, and it is easy to get stuck in the intestinal tract when rotating, which is easy to cause damage to the intestinal tract.…”

Section: Introductionmentioning

confidence: 99%

A Novel Expanding Mechanism of Gastrointestinal Microrobot: Design, Analysis and Optimization

et al. 2019

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In order to make the gastrointestinal microrobot (GMR) expand and anchor in the gastrointestinal tract reliably, a novel expanding mechanism of the GMR is proposed in this paper. The overlapping expanding arm is designed to be used to increase the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) to 3.3, which makes the robot more adaptable to the intestinal tract of different sections of the human body. The double-layer structure of the expanding arm increases the contact area with the intestine, reducing the risk of intestinal damage. The kinematics and mechanical model of the expanding arm are established, and the rigid velocity, rigid acceleration, and expanding force of the expanding arm are analyzed. The elastodynamics model of the expanding arm is established. Through the finite element analysis (FEA), the velocity, acceleration, and the value and distribution of the stress of the expanding arm under elastic deformation are obtained. Based on the elastodynamics analysis, the structure of the expanding arm is optimized. By the structure optimization, the thickness of the expanding mechanism is reduced by 0.4mm, the weight is reduced by 31%, and the stress distribution is more uniform. Through the mechanical test, the minimum expanding force of the expanding mechanism is 1.3 N and the maximum expanding force is 6.5 N. Finally, the robot is tested in the rigid pipeline and the isolated intestine to verify the reliability and safety of the expanding mechanism.

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Section: Introductionmentioning

confidence: 99%