Finite element analysis of a self-propelled capsule robot moving in the small intestine

Tian, Jiyuan; Liu, Yang; Chen, Junning; Guo, Bingyong; Prasad, S. N.

doi:10.1016/j.ijmecsci.2021.106621

Cited by 30 publications

(15 citation statements)

References 41 publications

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“…The friction in the real colon should be smaller than the dry surface, but the anatomy of the colon is more complex, e.g., the haustra of the colon, so its resistance is larger. The study in [15] verified that the propulsive force generated by the self-propelled capsule can overcome the intestinal resistance, but will not cause any intestinal trauma at a concerned level [16]. Future work will focus on the design optimisation for the prototype and its tests using a colon phantom.…”

Section: Discussionmentioning

confidence: 82%

Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control

Zhang¹,

Tian²,

Zhu³

et al. 2022

Preprint

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This paper presents a novel design and experimental investigation for a self-propelled capsule robot that can be used for painless colonoscopy during a retrograde progression from the patient's rectum. The steerable robot is driven forward and backward via its internal vibration and impact with orientation control by using an electromagnetic actuator. The actuator contains four sets of coils and a shaft made by permanent magnet. The shaft can be excited linearly in a controllable and tilted angle, so guide the progression orientation of the robot. Two control strategies are studied in this work and compared via simulation and experiment. Extensive results are presented to demonstrate the progression efficiency of the robot and its potential for robotic colonoscopy.

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Section: Discussionmentioning

confidence: 82%

Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control

Zhang¹,

Tian²,

Zhu³

et al. 2022

Preprint

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“…These devices need to overcome the resistant force induced by the circular fold providing a key design factor for endoscopic engineers. Compared to our previous studies that only a flat intestine was considered [16,22,23], the present study will provide further insight into the biomechanics of the small intestine for designing self-propelled endoscopic devices.…”

Section: Introductionmentioning

confidence: 93%

“…The mesh of the small intestine was built in three layers, and its bottom surface was fixed. For the first 0.3 s of the simulation, standard gravity was applied to the capsule, and a constant speed of 8 [mm/s] was applied to the capsule's head along the x axis 3 Finite element modelling of the capsule-intestine interaction FE analysis has been carried out to study the interaction between the capsule and the small intestine by considering the contact pressure and resistant force on the capsule under different contact conditions [23]. In this section, the capsule-intestine interaction model with the consideration of circular folds was developed by using ANSYS WORKBENCH transient structural module for which the implicit dynamics was adopted.…”

Section: Mathematical Modelling Of the Capsule-intestine Interactionmentioning

confidence: 99%

Evaluating the resistant force of an endoscopic capsule self-propelling in the small intestine

et al. 2022

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In this paper, we study a mathematical model for evaluating the resistant force of endoscopic devices self-propelling in the small intestine with a consideration of its anatomy. Circular fold is the main source of intestinal resistance that needs to be overcome during the endoscopic procedure. Our model is able to calculate the resistances of such folds in different dimensions. Finite element analysis and experimental testing are presented to validate the proposed model by using a pulling-type endoscopic capsule. Our investigation shows that the resistance reaches its maximum immediately after the capsule is pulled against the fold, and drops off gradually during the crossing motion. The proposed method is further demonstrated by using a magnetic pulling-type capsule prototype in an intestine simulator. The findings of this study provide a better insight into the biomechanics of the small intestine and advance the understanding of capsule–intestine interaction for robotic and endoscopic engineers.

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“…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%

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

Zhu

Liao

Chávez

et al. 2023

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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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Finite element analysis of a self-propelled capsule robot moving in the small intestine

Cited by 30 publications

References 41 publications

Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control

Design and experimental investigation of a vibro-impact self-propelled capsule robot with orientation control

Evaluating the resistant force of an endoscopic capsule self-propelling in the small intestine

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

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