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
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DOI：
10.1007/s11071-019-05061-y
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发表时间：
2019-12-01
影响因子：
5.6
通讯作者：
Prasad, Shyam
中科院分区：
文献类型：
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作者：
Guo, Bingyong;Liu, Yang;Prasad, Shyam
本文通过实验和数值模拟研究胶囊-肠道接触模型，设计了一种在小肠内移动的自推进胶囊机器人，用于内窥镜诊断。由于肠道的自然蠕动，胶囊-肠接触是多模式的，导致胶囊的间歇性高通过速度，这导致肠表面的不完全可视化。在这项工作中，考虑了小肠和胶囊之间的三种典型条件，部分和完全接触。进行了大量的实验测试和有限元分析，以比较胶囊上的接触压力。我们的分析，实验和数值结果显示出良好的一致性。使用人造小肠的研究表明，接触压力可以根据不同的接触条件（即由于小肠的膨胀而膨胀或收缩）从0.5 kPa变化到16 kPa。因此，适当的控制方法或鲁棒稳定机制，可以适应这样的高压差，将是设计机器人的关键。
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 accommodate such a high pressure difference, will be crucial for designing the robot.