Exploring the Dynamics of a Vibro-Impact Capsule Moving on the Small Intestine Using Finite Element Analysis

Tian, Jiyuan; Liu, Yang; Prasad, S. N.

doi:10.1007/978-3-030-81170-9_12

Cited by 5 publications

(6 citation statements)

References 13 publications

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“…1(a), with nonlinear structured springs. Given that they are already in the form of continuum structures [56], the replacement process is comparatively more straightforward. However, considering the computational efficiency of the von Mises truss model, it can be used as an inter-media for the analysis.…”

Section: Discussionmentioning

confidence: 99%

Enhancing the Mobility of Small-Scale Robots Via Nonlinear Structural Springs Exhibiting Negative Stiffness

Zhang,

Shen,

Yan

et al. 2024

Journal of Applied Mechanics

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Compared to traditional robotic systems, small-scale robots, ranging from several millimetres to micrometres in size, are capable of reaching narrower and vulnerable regions with minimal damage. However, conventional small-scale robots' limited maneuverability and controlability hinder their ability to effectively navigate in the intricate environments, such as the gastrointestinal tract. Self-propelled capsule robots driven by vibrations and impacts emerge as a promising solution, holding the potentials to enhance diagnostic accuracy, enable targeted drug delivery, and alleviate patient discomfort during gastrointestinal endoscopic procedures. This paper builds upon our previous work on self-propelled capsule robots, exploring the potential of nonlinear connecting springs to enhance its propulsion capabilities. Leveraging a mathematical model for self-propelling robots with a von Mises truss spring, which is verified using a finite element model, we investigate the effects of negative stiffness and snap-back within the nonlinear structural spring on the robots' propelling speed. Our analysis reveals that the negative stiffness of the von Mises truss can significantly reduce the sensitivity of the propelling speed to excitation frequency. As a result, the capsule robot exhibits a remarkably wider operational band where it maintains a high average propelling speed, surpassing its linear counterpart. This work sheds light on the potential for developing customised nonlinear structural systems for diverse scenarios in small-scale robot applications, opening up new possibilities for enhanced functionality and maneuverability in various biomedical applications.

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Section: Discussionmentioning

confidence: 99%

Enhancing the Mobility of Small-Scale Robots Via Nonlinear Structural Springs Exhibiting Negative Stiffness

Zhang,

Shen,

Yan

et al. 2024

Journal of Applied Mechanics

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“…High-speed forward: [14,16] Low-speed forward: [9,11] Hovering: [5,7] performed monitoring the quantities P avg , F max and five different levels of V avg for the capsule operation.…”

Section: Objective Constraint Rangesmentioning

confidence: 99%

“…H igh-speed forward: [14,16] 75.3 45.8 0.3 1.7 Low-speed forward: [9,11] 88.3 56.4 0.4 0.6 H over: [5,7] 123…”

Section: Objective Constraint Rangesmentioning

confidence: 99%

“…The small intestine has a complex environment due to its length, small diameter and its peristalsis which makes the navigation of a capsule a challenging task. To address this issue, Tian et al [12,13,14] built a friction resistance model of a self-propelled capsule in the small intestine. Based on this model, they optimized the structure and size of the capsule, reduced the energy consumption of the capsule and also the pressure exerted on the small intestine, all of which were verified through a series of finite element simulations and experiments.…”

Section: Introductionmentioning

confidence: 99%

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Multi-objective optimization of a self-propelled capsule for small-bowel endoscopy considering the influence of intestinal environment

Zhu

Liao

Chávez

et al. 2023

Preprint

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This work studies the control optimization of a self-propelled capsule moving in the small intestine for endoscopic diagnosis. For this purpose, we combine an existing capsule model with the intestinal peristalsis and its internal environment in order to gain a better understanding of dynamics of the self-propelled capsule. For the optimization study, a number of different realistic targets are considered, including the capsule's average progression speed, the impact force acting on the small intestine and the capsule's energy consumption. In addition, the uncertainty of the small intestine environment is taking into account by varying its internal radius. In this setting, we develop a multi-objective optimization strategy based on NSGA-II, Monte Carlo, and Six-Sigma algorithms considering both the control and structural model parameters, such as excitation frequency and impact stiffness. The effectiveness of the proposed optimization strategy is demonstrated via extensive numerical simulations with the consideration of a wide range of realistic scenarios.

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“…In particular, this paper will obtain the dynamic effect of coating on the vibro-impact capsule with different excitation parameters. Based on the two-dimensional FE modelling work [42], the present work further develops the FE model in three-dimension to study the nonlinear behaviour of an elastomer-coated capsule selfpropelling in the small intestine.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2023

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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.

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Exploring the Dynamics of a Vibro-Impact Capsule Moving on the Small Intestine Using Finite Element Analysis

Cited by 5 publications

References 13 publications

Enhancing the Mobility of Small-Scale Robots Via Nonlinear Structural Springs Exhibiting Negative Stiffness

Enhancing the Mobility of Small-Scale Robots Via Nonlinear Structural Springs Exhibiting Negative Stiffness

Multi-objective optimization of a self-propelled capsule for small-bowel endoscopy considering the influence of intestinal environment

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

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