Design of a Microbiota Sampling Capsule using 3D-Printed Bistable Mechanism

Salem, M. Ben; Aiche, Guillaume; Rubbert, Lennart; Renaud, Pierre; Haddab, Yassine

doi:10.1109/embc.2018.8513141

Cited by 17 publications

(15 citation statements)

References 6 publications

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“…In conclusion, the solution of the governing equation (5) has the form (18) where K j are expressed as follows: The coefficients K j are dependent on F, N, and ∆. The relationship between F, N, and ∆ is determined from the deflection equation (1) and Hooke's law (2), as clarified in the next section.…”

Section: Original Shapementioning

confidence: 99%

“…Bistable beams exhibit additional advantages, such as their simplicity, passive holding, low actuation energy, small footprint, large stroke with small restoring forces, and negative stiffness zone. These advantages make bistable beams suitable for an increasing number of applications at different scales, such as space applications [1], biomedical [2], energy harvesting [3,4], resonators [5], actuators [6] accelerometers [7], shock sensors [8], gas sensors [9], pressure sensors [10], flow sensors [11], grippers [12], mechanisms with large displacement and small actuation stroke [13], switches [14], relays [15], memory devices [16], logics [17], lamina emergent frustrum [18], statically-balanced mechanisms [19], soft robotics [20], constant force mechanisms [21,22], bistable positioning [23][24][25][26], and multistable devices [27][28][29][30][31][32].…”

Section: Introductionmentioning

confidence: 99%

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Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape

Hussein

Younis

2020

Journal of Mechanisms and Robotics

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We derive the snap-through solution and the governing snapping force equations for an arbitrarily pre-shaped beam deflected under a mid-length lateral point force. The exact solution is obtained based on the classical theory of elastic beams as a superposition of the initial shape and the modes of buckling. Two kinds of solution are identified depending on the axial force level. The two solutions, bifurcation conditions, bistability conditions, and the snapping force equations are derived and discussed. The snap-through and snapping force solutions are then calculated for two common beam initial shapes, the curved (first buckling shape) and the inclined one (V-shape). In both cases, explicit expressions are obtained describing the snap-through behavior. The analytical modeling results show excellent agreement with the finite element simulations. The comparison between the two cases shows a similar snap-through behavior qualitatively, while several differences and similarities are noticed quantitatively.

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Section: Original Shapementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape

Hussein

Younis

2020

Journal of Mechanisms and Robotics

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“…At the same time, the closing is enabled by a passive bistable mechanism, triggered by volume increase of a sponge. Although promising, this solution does not enable choosing the specific location of collection, neither localizing the sample, and it does not consider the quality, quantity and correct storage of the material in order to properly analyze its composition through the bacterial 16S rRNA sequencing [5]. A more advanced solution is presented by Rezaei et al, who collected the bacteria through an osmotic pump, enabled by the dissolution of an external coating.…”

Section: Introductionmentioning

confidence: 99%

Design of a magnetic actuation system for a microbiota-collection ingestible capsule

Finocchiaro

Giosuè

Drago

et al. 2021

2021 IEEE International Conference on Robotics and Automation (ICRA)

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Minimally invasive wireless devices, allowing the sampling of gut's bacteria, are needed for a longitudinal understanding of the role of the microbiota on the human health. Herein, we present a novel magnetic actuation system fitting inside a 11.5 x 30.5 mm wireless ingestible capsule. Lacking any electronic components, the capsule robot is designed for the collection of microbiota's samples through mechanical brushing. Wireless activation and in situ sampling are enabled by an external permanent magnetic source. This component, when approaching the capsule, progressively allows: (1) the adhesion of the device to the mucosa, (2) the exposure of the brushes, and (3) the sampling by multiple rotations. Numerical and analytical models were developed for dimensioning the system, and were validated by benchtop experiments.

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“…But, these designs do not consider resealing the inlet after sample collection, so the samples become contaminated and resemble fecal samples after device recovery. A bi-stable mechanism has been developed which automatically sealed the inlet after sample collection, however this design did not control the upstream contamination before sample collection and hence precise sample collection at the target site was not possible [28]. Some researchers have investigated active collection mechanisms by considering diversified actuation mechanisms, like shape memory alloy (SMA) [29], motor [30], [31], and magnet [32].…”

Section: Introductionmentioning

confidence: 99%

Towards Gut Microbiota Sampling Using an Untethered Sampling Device

et al. 2021

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Recent studies suggest that human gut microbiota can act as a bio-marker for human health. Also, it can function as a potential tool to understand stress and anxiety. However, the conventional tools have limitations in acquiring a sample of gut microbiota without contamination. In this work, an untethered robotic capsule prototype is developed, which can actively collects the microbiota from the mucosa layer of the small intestine for the first time with a potential to avoid the upstream and downstream contamination. An analytical model for quantifying the peristaltic forces and developing two-way shape memory alloy spring actuator is presented. For the first time, a novel two-way shape memory alloy spring actuator (5 mm x φ 4 mm) is used to perform the sampling inside the gut. The spring actuator can apply 675 mN force, which is sufficient to perform in vivo sampling. A specialised experimental setup that can keep the freshly dissected intestine alive for 6 hours is utilised to test the robotic capsule. The robotic capsule prototype has collected an average of 200 µL and 112µL sample from living porcine duodenal and ileal tissues respectively i.e. in the presence of peristaltic forces. The robotic capsule was also tested on intestine of other species including cow and sheep and collected an average of 160 µL and 185µL of content respectively from the living postmortem tissues. The collected sample size for all the species is feasible to analyse the microbiota through next generation sequencing techniques. The experimental setup is a reliable proxy to in-vivo behaviour and the robotic capsule experimental result is promising in terms of in situ collection of microbiota.

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Design of a Microbiota Sampling Capsule using 3D-Printed Bistable Mechanism

Cited by 17 publications

References 6 publications

Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape

Analytical Study of the Snap-Through and Bistability of Beams With Arbitrarily Initial Shape

Design of a magnetic actuation system for a microbiota-collection ingestible capsule

Towards Gut Microbiota Sampling Using an Untethered Sampling Device

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