Hyperelastic Model of Anisotropic Fiber Reinforcements within Intestinal Walls for Applications in Medical Robotics

Ciarletta, Pasquale; Dario, P.; Tendick, Frank; Micera, Silvestro

doi:10.1177/0278364909101190

Cited by 80 publications

(101 citation statements)

References 48 publications

(62 reference statements)

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“…Second, when the capsule moves at a higher velocity, the five-element model cannot describe the viscoelasticity of the intestinal material completely. The hyperelasticity of the intestinal muscular layer may play a more important role in the intestinal deformation at a higher velocity [23].…”

Section: Model Validation and Discussionmentioning

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: Model Validation and Discussionmentioning

confidence: 99%

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

et al. 2012

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“…The muscular layer consists essentially of circumferentially oriented muscle fibres surrounded by a muscular coat with longitudinally oriented muscle fibres. This has been modelled as a fibre-reinforced elastic material by Ciarletta et al (2009) using an extension of the model (2.29) that accounts for the contributions of the muscle fibres.…”

Section: (B) Modelling Other Soft Tissuesmentioning

confidence: 99%

Constitutive modelling of arteries

2010

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This review article is concerned with the mathematical modelling of the mechanical properties of the soft biological tissues that constitute the walls of arteries. Many important aspects of the mechanical behaviour of arterial tissue can be treated on the basis of elasticity theory, and the focus of the article is therefore on the constitutive modelling of the anisotropic and highly nonlinear elastic properties of the artery wall. The discussion focuses primarily on developments over the last decade based on the theory of deformation invariants, in particular invariants that in part capture structural aspects of the tissue, specifically the orientation of collagen fibres, the dispersion in the orientation, and the associated anisotropy of the material properties. The main features of the relevant theory are summarized briefly and particular forms of the elastic strain-energy function are discussed and then applied to an artery considered as a thickwalled circular cylindrical tube in order to illustrate its extension-inflation behaviour. The wide range of applications of the constitutive modelling framework to artery walls in both health and disease and to the other fibrous soft tissues is discussed in detail. Since the main modelling effort in the literature has been on the passive response of arteries, this is also the concern of the major part of this article. A section is nevertheless devoted to reviewing the limited literature within the continuum mechanics framework on the active response of artery walls, i.e. the mechanical behaviour associated with the activation of smooth muscle, a very important but also very challenging topic that requires substantial further development. A final section provides a brief summary of the current state of arterial wall mechanical modelling and points to key areas that need further modelling effort in order to improve understanding of the biomechanics and mechanobiology of arteries and other soft tissues, from the molecular, to the cellular, tissue and organ levels.

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“…Therefore, a hyperelastic model is considered as an effective method to describe the stress-strain properties of the intestinal material. Ciarletta et al [14] used the hyperelastic constitutive model to deduce the stress-strain relationship of the intestinal material in the longitudinal and circumferential directions, respectively. The analytic expressions are given by…”

Section: Hyperelastic Model Of Intestinal Materialsmentioning

confidence: 99%

“…It is carried out using MATLAB/ SIMULINK with the sampling interval t s ¼ 25 ns. All the parameters used in the simulation are shown in Table 1, where the parameters of the hyperelastic model are quoted from Ciarletta's work [14], R, L and v s come from the real experimental process, and v c is quoted from our previous work [24]. f 0 has something to do with the velocity of the capsule robot.…”

Section: Simulation Analysesmentioning

confidence: 99%

“…An analytical model and an experimental model were developed to predict the tissue behavior in response to loading. Ciarletta et al [14] used the theory of hyperelasticity to make a stratified analysis of the intestinal wall. The hyperelastic model is significative to research the frictional characteristics of the capsule robot, but it neglects the time effect.…”

Section: Introductionmentioning

confidence: 99%

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Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

Zhang

Líu

2013

Tribol Lett

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Capsule robot is the direction for future development of capsule endoscopy. The imperfection of friction model between the capsule robot and the intestine has been one of the biggest obstacles of its development. Uniform motion is the main mode of the capsule robot in the intestine. However, the frictional resistance variation of the capsule robot in this period has not been understood completely until now. This is the research content in the paper. First, some experiments are conducted to measure actual frictional resistance with a homemade experiment platform. Next, the model of the frictional resistance at a constant velocity is established based on the hyperelasticity of the intestinal material and the interactive features between the capsule robot and the intestine. At last, the theoretical result of the model is proved to be reasonable by simulation analysis. The model is efficient to describe the frictional resistance variation at a constant velocity and can be seen as another kind of stick-slip motion. The work is hoped to perfect the friction model between the capsule robot and the intestine and contribute to the development of the capsule robot.

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Hyperelastic Model of Anisotropic Fiber Reinforcements within Intestinal Walls for Applications in Medical Robotics

Cited by 80 publications

References 48 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

Constitutive modelling of arteries

Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

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