A Legged Anchoring Mechanism for Capsule Endoscopes Using Micropatterned Adhesives
A Legged Anchoring Mechanism for Capsule Endoscopes Using Micropatterned Adhesives
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DOI：
10.1109/tbme.2008.2002111
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发表时间：
2008-12-01
影响因子：
4.6
通讯作者：
Sitti, Metin
中科院分区：
文献类型：
--
作者：
Glass, Paul;Cheung, Eugene;Sitti, Metin
本文提出了一个新的概念，锚定机制，以加强现有的胶囊内窥镜。该机构由三个致动腿和顺应性脚组成，顺应性脚衬有微柱粘合剂，微柱粘合剂被压入肠壁以将装置锚在固定位置。这些粘合剂系统的灵感来自壁虎和甲虫的足毛。单腿和完整的胶囊的数学模型所产生的腿的力量进行了分析，以了解胶囊的性能。经验的摩擦模型的相互作用的粘合剂与肠道基质的实验测定在体外使用干燥和油涂层的弹性体微柱阵列与140 μ m的支柱直径，105 μ m的支柱之间的间距，和纵横比为1：1的新鲜猪小肠标本。胶囊原型也在模拟肠道环境中进行了测试，并与预测的蠕动负荷进行了比较，以评估拟议设计的可行性。实验结果表明，一个部署10克胶囊机器人可以承受轴向蠕动载荷和锚可靠的驱动力大于0.27 N时，使用干微柱。通过使用涂覆有薄硅油层的微柱，可以显著降低所需的致动力。
This paper presents a new concept for an anchoring mechanism to enhance existing capsule endoscopes. The mechanism consists of three actuated legs with compliant feet lined with micropillar adhesives to be pressed into the intestine wall to anchor the device at a fixed location. These adhesive systems are inspired by gecko and beetle foot hairs. Single-leg and full capsule mathematical models of the forces generated by the legs are analyzed to understand capsule performance. Empirical friction models for the interaction of the adhesives with an intestinal substrate were experimentally determined in vitro using dry and oil-coated elastomer micropillar arrays with 140 mu m pillar diameter, 105 mu m spacing between pillars, and an aspect ratio of 1: 1 on fresh porcine small Intestine specimens. Capsule prototypes were also tested in a simulated intestine environment and compared with predicted peristaltic loads to assess the viability of the proposed design. The experimental results showed that a deployed 10 gr capsule robot can withstand axial peristaltic loads and anchor reliably when actuation forces are greater than 0.27 N using dry micropillars. Required actuation forces may be reduced significantly by using micropillars coated with a thin silicone oil layer.