Finite element analysis of a self-propelled capsule robot moving in the small intestine
Finite element analysis of a self-propelled capsule robot moving in the small intestine
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DOI：
10.1016/j.ijmecsci.2021.106621
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发表时间：
2021-06
影响因子：
7.3
通讯作者：
Jiyuan Tian;Yang Liu;Junning Chen;Bingyong Guo;S. Prasad
中科院分区：
文献类型：
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作者：
Jiyuan Tian;Yang Liu;Junning Chen;Bingyong Guo;S. Prasad
为了优化自推进胶囊机器人在小肠中的通道，本文通过有限元分析和实验研究胶囊-小肠相互作用。不同的接触条件被认为反映了肠道的结构复杂性和运动性，包括平开的、塌陷的、收缩的和弯曲的肠道。胶囊的几何形状和推进速度是两个主要的因素，以优化对肠创伤所造成的胶囊-肠接触和摩擦。此外，肠系膜也被认为是限制肠道运动的肠道边界。通过与实验结果的比较，所提出的有限元模型可以提供定量估计的接触压力和阻力在不同的胶囊肠条件。本研究的结果对于开发用于肠道检查的医疗机器人的研究人员和工程师以及从事胶囊内窥镜检查的临床从业人员提供了设计指南和评估手段。
In order to optimise the passage of the self-propelled capsule robot in the small intestine, capsule-intestine interactions were studied in this paper via finite element (FE) analysis and experimental investigation. Different contact conditions were considered to reflect the structural complexity and motility of the intestinal tract, including the flat-open, collapsed, contractive and curved intestines. Capsule’s geometric shape and progression speed are the two major factors to be optimised against the intestinal trauma caused by capsule-intestine contact and friction. In addition, the mesentery was also considered as the intestinal boundary to restrict the mobility of the intestine. By comparing with the experimental results, the proposed FE model can provide quantitative estimations of contact pressure and resistance force under different capsule-intestine conditions. The findings of this work are valuable to provide design guidelines and an evaluation means for the researchers and engineers who are developing medical robots for bowel examination as well as the clinical practitioners working in capsule endoscopy.