Self-propelled capsule endoscopy for small-bowel examination: Proof-of-concept and model verification
Self-propelled capsule endoscopy for small-bowel examination: Proof-of-concept and model verification
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DOI：
10.1016/j.ijmecsci.2020.105506
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发表时间：
2020-05
影响因子：
7.3
通讯作者：
Bingyong Guo;Yang Liu;R. Birler;S. Prasad
中科院分区：
文献类型：
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作者：
Bingyong Guo;Yang Liu;R. Birler;S. Prasad
本文报道了一种用于小肠内窥镜检查的振动冲击自推进技术的实验研究，该技术应用于长56.9 mm、直径19.4 mm的中尺度胶囊样机。基于非光滑多体动力学理论，建立了研究样机动力学特性的数学模型。数值计算结果与实验结果进行了对比，验证了该模型的有效性以及该技术在不同摩擦环境下的可行性。通过使用该模型，我们可以揭示原型的一些隐藏的动力学，并优化其进展速度和能源效率。根据我们的计算，采用这种技术，标准尺寸的胶囊长26 mm，直径11 mm，最大平均前进速度为8.49 mm/S，最大平均前进速度为4.9 mm/S，为活体和可控的小肠检查提供了可能性。
This paper reports the experimental study of a vibro-impact self-propulsion technique applying for small-bowel endoscopy by using a mesoscale capsule prototype, which is 56.9 mm in length and 19.4 mm in diameter. Based on nonsmooth multibody dynamics, a mathematical model is developed for studying the dynamical characteristics of the prototype. Numerical and experimental results are compared to validate the efficacy of the proposed model as well as the feasibility of the technique under various frictional environments. By using the model, we can reveal some hidden dynamics of the prototype and optimise its progression speed and energy efficiency. Based on our calculations, by adopting this technique, the standard-sized capsule, which is 26 mm in length and 11 mm in diameter, can achieve the maximum average speeds of 8.49 mm/s for forward progression and 4.9 mm/s for backward progression, offering the potential for a ‘live’ and controllable small-bowel examination.