A tribological investigation of the small bowel lumen surface

Tan

et al. 2014

Proc Inst Mech Eng H

Active capsule endoscope could also be called capsule robot, has been developed from laboratory research to clinical application. However, the system still has defects, such as poor controllability and failing to realize automatic checks. The imperfection of the interaction model between capsule robot and intestine is one of the dominating reasons causing the above problems. A model is hoped to be established for the control method of the capsule robot in this article. It is established based on nonlinear viscoelasticity. The interaction force of the model consists of environmental resistance, viscous resistance and Coulomb friction. The parameters of the model are identified by experimental investigation. Different methods are used in the experiment to obtain different values of the same parameter at different velocities. The model is proved to be valid by experimental verification. The achievement in this article is the attempted perfection of an interaction model. It is hoped that the model can optimize the control method of the capsule robot in the future.

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Section: Experiments Of Measuring Coulomb Friction Coefficientmentioning

confidence: 99%

Interaction model between capsule robot and intestine based on nonlinear viscoelasticity

Tan

et al. 2014

Proc Inst Mech Eng H

show abstract

“…Some people focus on the affection of the capsule's parameters, while others seem more concerned with the material property of the intestine. The characteristics of the capsule, such as weight, shape, dimension, material, contour line, surface preparation methods and kinestate have great influence on the friction [18][19][20][21][22][23][24]. Researches show that the friction of smooth cylindrical capsule is smaller than other shapes [18,19], the influence of the capsule's length on the friction is greater than that of the diameter [21], capsule's weight has no significant effect on the friction [22], resin material is suitable for making capsule's shell [20] and the friction are in direct proportion to the capsule robot's velocity [23].…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation of intestinal frictional resistance in the starting process of the capsule robot

Tribology International

2014

“…The COF for the small intestine in contact with another 13 Repetitive experimental data at 10 mm/s [29] surface is highly variable and depends upon the surface material, region of intestine, contact area and animal [33]. The surface material is PDMS, and the experiment object is laboratory pig in my work.…”

Section: Influence Of Cofmentioning

confidence: 99%

“…So the central angle corresponding to the connection area between the front end of CR and the small intestine a is 30°in calculation. Lyle [33] measured mean COF in their work. It has been proved that COF between CR and the small intestine mainly depends on the material of CR and the bowel region.…”

Section: Parameters Of the Modelmentioning

confidence: 99%

Analytical Friction Model of the Capsule Robot in the Small Intestine

2016

Tribol Lett