Design and Preliminary Experimental Investigation of a Capsule for Measuring the Small Intestine Contraction Pressure

Li, Pengbo; Kothari, Vishal; Terry, Benjamin S.

doi:10.1109/tbme.2015.2444406

Cited by 15 publications

(13 citation statements)

References 30 publications

(41 reference statements)

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“…Furthermore, analytical modelling of frictional resistance between a capsule endoscope and the intestine was considered and validated by experiments [19][20][21]. Peristaltic motion of the small intestine can induce contraction pressure on the capsule robot, and a capsule of 12 mm in diameter and 30 mm in length with two pressure sensors was studied in [22] to measure such a pressure. In vitro tests by using a 72 kg live pig found that the contraction rate was 9.4-11 times per minute, and the peak contraction pressure was 0.24 ± 0.05 kPa.…”

Section: Introductionmentioning

confidence: 99%

Modelling of capsule–intestine contact for a self-propelled capsule robot via experimental and numerical investigation

2019

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This paper studies the modelling of capsule-intestine contact through experimental and numerical investigation for designing a self-propelled capsule robot moving inside the small intestine for endoscopic diagnosis. Due to the natural peristalsis of the intestinal tract, capsule-intestine contact is multimodal causing intermittent high transit speed for the capsule, which leads to incomplete visualisation of the intestinal surface. Three typical conditions, partial and full contacts, between the small intestine and the capsule, are considered in this work. Extensive experimental testing and finite element analysis are conducted to compare the contact pressure on the capsule. Our analytical, experimental and numerical results show a good agreement. The investigation using a synthetic small intestine shows that the contact pressure could vary from 0.5 to 16 kPa according to different contact conditions, i.e. expanding or contracting due to the peristalsis of the small intestine. Therefore, a proper control method or a robust stabilising mechanism, which can

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Section: Introductionmentioning

confidence: 99%

Modelling of capsule–intestine contact for a self-propelled capsule robot via experimental and numerical investigation

2019

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“…The selflocalization features of the capsule are beyond the scope of this project, so to ensure the TAM deployed in the proper location, the ICR was implanted via enterotomy instead of via swallowing. According to a previous study, the difference in intestinal contact pressure on a solid bolus between a closed and an open abdomen is 0.28 kPa [17]. Thus, the ICR ejection performance under surgical implantation conditions (with an open abdomen) is likely similar to the performance of a capsule that is swallowed and activates in a closed abdominal pressure environment.…”

Section: In Vivo Animal Experimentmentioning

confidence: 83%

“…The keys to successful attachment are knowledge of capsule's location and intimate contact of the TAM with the tissue. The future sensor package will add these capabilities [17].…”

Section: Methodsmentioning

confidence: 99%

Design and Validation of a Biosensor Implantation Capsule Robot

Xie

Lewis

Kaser

et al. 2017

Journal of Biomechanical Engineering

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We have proposed a long-term, noninvasive, nonrestrictive method of delivering and implanting a biosensor within the body via a swallowable implantation capsule robot (ICR). The design and preliminary validation of the ICR's primary subsystem-the sensor deployment system-is discussed and evidence is provided for major design choices. The purpose of the sensor deployment system is to adhere a small biosensor to the mucosa of the intestine long-term, and the modality was inspired by tapeworms and other organisms that employ a strategy of mechanical adhesion to soft tissue via the combined use of hooks or needles and suckers. Testing was performed to refine the design of the suction and needle attachment as well as the sensor ejection features of the ICR. An experiment was conducted in which needle sharpness, needle length, and vacuum volume were varied, and no statistically significant difference was observed. Finally, preliminary testing, coupled with prior work within a live porcine model, provided evidence that this is a promising approach for implanting a biosensor within the small intestine.

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“…The coulomb friction comprises static and dynamic friction, as shown in Equations and , respectively. The peristaltic forces act in the form of waves and appear between 9.4 and 11 times per minute 27 . When the peristaltic force is absent, then the capsule would remain idle and static frictional force would resist the sampler movement as expressed in Equation .…”

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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Design and Preliminary Experimental Investigation of a Capsule for Measuring the Small Intestine Contraction Pressure

Cited by 15 publications

References 30 publications

Modelling of capsule–intestine contact for a self-propelled capsule robot via experimental and numerical investigation

Modelling of capsule–intestine contact for a self-propelled capsule robot via experimental and numerical investigation

Design and Validation of a Biosensor Implantation Capsule Robot

Capsule robot for gut microbiota sampling using shape memory alloy spring

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