A survey of small bowel modelling and its applications for capsule endoscopy

Liu, Yang; Tian, Jiyuan; Manfredi, Luigi; Terry, Benjamin S.; Prasad, S. N.; Rahman, Imdadur; Marlicz, Wojciech; Koulaouzidis, Anastasios

doi:10.1016/j.mechatronics.2022.102748

Cited by 13 publications

(3 citation statements)

References 88 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In the references, 35,36 silicone material is generally used for artificial biological intestines. Based on the previous studies on intestinal motility parameters, 37,38 the geometric model of the intestine was set to a sinusoidal tube.…”

Section: Tube Fabricationmentioning

confidence: 99%

Resistance model of an active capsule endoscope in a peristaltic intestine

Huang,

Liang,

Tang

et al. 2024

Proc Inst Mech Eng H

View full text Add to dashboard Cite

In the past studies, the resistance of magnetically controlled capsules running through the small intestine has been modeled assuming that the small intestine was a circular tube with a constant diameter. Peristalsis is an important character of the human gastrointestinal system, and it would result in some changes in the diameter of the intestine, meaning that the existing resistance models would no longer be applicable. In this paper, based on the assumption that intestinal peristalsis is actually a sinusoidal wave, a resistance model of the capsule running in the peristaltic intestine is established, and then it is validated experimentally. The model provides a realistic foundation for the optimization and control of the magnetically controlled endoscopy.

show abstract

Section: Tube Fabricationmentioning

confidence: 99%

Resistance model of an active capsule endoscope in a peristaltic intestine

Huang,

Liang,

Tang

et al. 2024

Proc Inst Mech Eng H

View full text Add to dashboard Cite

show abstract

“…in industrial pipelines coated with greases where bristle-based vibrational crawling robots are incapable of traveling through) and safety (e.g. in selfpropelled capsule endoscopies where sharp bristles can potentially damage intestinal tissues) [22].…”

Section: Introductionmentioning

confidence: 99%

Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators

Cao,

Wu,

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

Vibro-impact crawling robots driven by the emerging dielectric elastomer actuators (DEAs) feature the advantages of reduced system complexity and bidirectional locomotion capability. However, due to the lack of systematic dynamic models and in-depth investigations, the fundamental locomotion principles of the robots are still unclear and therefore their applications in real-world scenarios remain hindered. In this paper, a comprehensive dynamic model of this robot is developed by considering the complex interactions between the electro-mechanical coupling, impact mechanism, and multiple nonlinear friction characteristics. By incorporating extensive modelling and experimental studies, we explain the fundamental principles that lead to the bidirectional locomotion of the robot. The actuation strategies for both forward and backward locomotion are characterized in-depth, which include the actuation frequencies, relative phases, and waveforms. Three typical contact surface cases (i.e. rigid & dry, rigid & viscous, compliant & viscous) are considered in this paper, where we report the changes in the optimal actuation strategies for bidirectional locomotion with the contact surfaces and reveal the influences of key factors of friction coefficient, viscosity, and material compliance. The key findings reported in this work can build foundations for developing a highly robust and efficient DEA-driven vibro-impact crawling robot for broad applications.

show abstract

“…According to the above, the modelling of the intestine mainly focused on its contact condition [14,16] and frictional environments [13,15] with the capsule. Very few studies [17][18][19] have considered the real intestinal environment through experimental investigations and analysed the simplified capsule-intestine model through finite element (FE) analysis [14,16]. Thus, to study the dynamics of the capsule robot in a more realistic environment, the present work adopts FE method and this has not been carried out in any other studies.…”

Section: Introductionmentioning

confidence: 99%

Dynamic analysis of a soft capsule robot self-propelling in the small intestine via finite element method

et al. 2023

Self Cite

View full text Add to dashboard Cite

To reduce potential trauma to the intestine caused by the rigid shell while also optimising its progression efficiency, an elastomer coating was applied to a self-propelled capsule robot for small-bowel endoscopy. The robot is self-propelled by its periodically excited inner mass interacting with the main body of the capsule in the presence of intestinal resistance. This work explored the dynamic responses of the capsule with different elastomer coatings (i.e., different elastic moduli and thicknesses) in the lumen of the small intestine through a three-dimensional finite element analysis. The driving parameters of the robot, including the amplitude, frequency and duty cycle of a square-wave excitation, were further tested to reveal the dynamics of this soft robot. By analysing numerical results, the proposed finite element model can provide quantitative predictions on the contact pressure, resistance force and robot-intestine dynamics under different elastomer coatings. It was found that the softer the elastomer coating is, the lesser the contact pressure between the robot and the intestine, thus implying lesser trauma. The findings of this work can provide design guidelines and an evaluation means for robotic engineers who are developing soft medical robots for bowel examinations as well as clinical practitioners working on capsule endoscopy.

show abstract

A survey of small bowel modelling and its applications for capsule endoscopy

Cited by 13 publications

References 88 publications

Resistance model of an active capsule endoscope in a peristaltic intestine

Resistance model of an active capsule endoscope in a peristaltic intestine

Actuation strategy characterizations of a vibro-impact crawling robot driven by dielectric elastomer actuators

Dynamic analysis of a soft capsule robot self-propelling in the small intestine via finite element method

Contact Info

Product

Resources

About