Experimental Investigation of the Intestine's Friction Characteristic based on """"Internal Force-Static Friction"""" Capsubot

Zhang, Cheng; Su, G.H.; Tan, Renjia; Li, Hongyi

doi:10.2316/p.2011.723-026

Cited by 7 publications

(11 citation statements)

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“…It is shown that the results of the verification test are repeatable and reasonable. In addition, the experimental results are similar to those in Zhang et al 18 Figure 9 also shows the comparison between the experimental results and the theoretical results. Next, the goodness Figure 6.…”

Section: Model Validation and Discussionsupporting

confidence: 83%

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Interaction model between capsule robot and intestine based on nonlinear viscoelasticity

Zhang

Líu

Tan

et al. 2014

Proc Inst Mech Eng H

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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: Model Validation and Discussionsupporting

confidence: 83%

“…Some similar researches were carried out by Wang and Meng, 16 Wang and Yan 17 and our group 18 as well. Ciarletta et al 19 used the theory of hyperelasticity to make a stratified analysis of the 1 intestinal wall.…”

Section: Introductionmentioning

confidence: 63%

Interaction model between capsule robot and intestine based on nonlinear viscoelasticity

Zhang

Líu

Tan

et al. 2014

Proc Inst Mech Eng H

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“…The relationship between the frictional resistance and the velocity is obtained from the experiment [22]. The comparison between the experimental results and the model predicted results is shown in Fig.…”

Section: Model Validation and Discussionmentioning

confidence: 99%

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

et al. 2012

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A model is first built for predicting the velocity-dependent frictional resistance of a capsule robot that moves inside the intestine in the paper. The capsule robot plays a more and more important role in checking diseases in the intestine. This study aims to optimize the locomotion mechanism and the control strategy of the capsule robot. The model consists of three parts: environmental resistance, viscous friction, and Coulomb friction. Environmental resistance is induced by the stress due to the viscoelastic deformation of the intestinal wall. Viscous friction is analyzed according to the apparent viscosity of intestinal mucus. Coulomb friction is a product of the local contact pressure and the Coulomb friction coefficient. In order to analyze the effects of the intestinal deformation, a five-element model is used to describe the stress relaxation of the intestinal material. Experimental investigation is used to identify the model parameters with homemade physical simulation measurement system and fixtures. Finally, the model's validity is verified by experimental results. It is shown that the model predicting results can fit the experimental results well when the moving velocity of the capsule is lower than 20 mm/s. The R 2 of these two sets of data is 0.8769. But at a higher velocity, there are significant differences between the two results and the R 2 declines to 0.1666. The friction model is expected to be useful in the development of the medical equipment in the intestine and the study of biomechanics of the intestine.

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“…The characteristics of the capsule, such as weight, shape, dimension, material, contour line and surface preparation methods also have great influence on the friction. Researches show that the friction of smooth cylindrical capsule is smaller than other shapes [17,18]; the influence of the capsule's length on the friction is greater than that of the diameter [19]; capsule's quality has no significant effect on the friction [20]; and resin material is suitable for making capsule's shell [21]. Much less attention has been paid to the effect of capsule robot's motion parameter such as velocity and acceleration on the frictional resistance.…”

Section: Introductionmentioning

confidence: 98%

Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

Zhang

Líu

2013

Tribol Lett

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Capsule robot is the direction for future development of capsule endoscopy. The imperfection of friction model between the capsule robot and the intestine has been one of the biggest obstacles of its development. Uniform motion is the main mode of the capsule robot in the intestine. However, the frictional resistance variation of the capsule robot in this period has not been understood completely until now. This is the research content in the paper. First, some experiments are conducted to measure actual frictional resistance with a homemade experiment platform. Next, the model of the frictional resistance at a constant velocity is established based on the hyperelasticity of the intestinal material and the interactive features between the capsule robot and the intestine. At last, the theoretical result of the model is proved to be reasonable by simulation analysis. The model is efficient to describe the frictional resistance variation at a constant velocity and can be seen as another kind of stick-slip motion. The work is hoped to perfect the friction model between the capsule robot and the intestine and contribute to the development of the capsule robot.

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Experimental Investigation of the Intestine's Friction Characteristic based on """"Internal Force-Static Friction"""" Capsubot

Cited by 7 publications

References 0 publications

Interaction model between capsule robot and intestine based on nonlinear viscoelasticity

Interaction model between capsule robot and intestine based on nonlinear viscoelasticity

Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine

Modeling of Frictional Resistance of a Capsule Robot Moving in the Intestine at a Constant Velocity

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