Modeling of Velocity-dependent Frictional Resistance of a Capsule Robot Inside an Intestine
作者： Cheng Zhang , Hao Liu , Renjia Tan , Hongyi Li
DOI: 10.1007/S11249-012-9980-1
关键词: Materials science 、 Mechanism (engineering) 、 System of measurement 、 Viscoelasticity 、 Stress (mechanics) 、 Mechanics 、 Mechanical engineering 、 Deformation (mechanics) 、 Biomechanics 、 Apparent viscosity 、 Stress relaxation
摘要: A model is first built for predicting the velocity-dependent frictional resistance of a capsule robot that moves inside intestine in paper. The plays more and important role checking diseases intestine. This study aims to optimize locomotion mechanism control strategy robot. consists three parts: environmental resistance, viscous friction, Coulomb friction. Environmental induced by stress due viscoelastic deformation intestinal wall. Viscous friction analyzed according apparent viscosity mucus. product local contact pressure coefficient. In order analyze effects deformation, five-element used describe relaxation material. Experimental investigation identify parameters with homemade physical simulation measurement system fixtures. Finally, model’s validity verified experimental results. It shown results can fit well when moving velocity lower than 20 mm/s. R 2 these two sets data 0.8769. But at higher velocity, there are significant differences between declines 0.1666. expected be useful development medical equipment biomechanics
springer.com
core.ac.uk
irgrid.ac.cn
researchgate.net 参考文章(23)
Kun Dong Wang, Guo Zheng Yan, Research on measurement and modeling of the gastro intestine's frictional characteristics Measurement Science and Technology. ,vol. 20, pp. 015803- ,(2009) , 10.1088/0957-0233/20/1/015803
Felipe J.O. Varum, Francisco Veiga, João S. Sousa, Abdul W. Basit, An investigation into the role of mucus thickness on mucoadhesion in the gastrointestinal tract of pig European Journal of Pharmaceutical Sciences. ,vol. 40, pp. 335- 341 ,(2010) , 10.1016/J.EJPS.2010.04.007
N-K Baek, I-H Sung, D-E Kim, Frictional resistance characteristics of a capsule inside the intestine for microendoscope design. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine. ,vol. 218, pp. 193- 201 ,(2004) , 10.1243/095441104323118914
Masayuki Saruta, Konstantinos A Papadakis, Capsule endoscopy in the evaluation and management of inflammatory bowel disease: a future perspective. Expert Review of Molecular Diagnostics. ,vol. 9, pp. 31- 36 ,(2009) , 10.1586/14737159.9.1.31
Elizabeth J Carey, Jonathan A Leighton, Russell I Heigh, Arthur D Shiff, Virender K Sharma, Janice K Post, David E Fleischer, A Single-Center Experience of 260 Consecutive Patients Undergoing Capsule Endoscopy for Obscure Gastrointestinal Bleeding The American Journal of Gastroenterology. ,vol. 102, pp. 89- 95 ,(2007) , 10.1111/J.1572-0241.2006.00941.X
J.-S. Kim, I.-H. Sung, Y.-T. Kim, E.-Y. Kwon, D.-E. Kim, Y. H. Jang, Experimental investigation of frictional and viscoelastic properties of intestine for microendoscope application Tribology Letters. ,vol. 22, pp. 143- 149 ,(2006) , 10.1007/S11249-006-9073-0
I-H Sung, Y-T Kim, D-E Kim, Y-H Jang, J-S Kim, Analytical model development for the prediction of the frictional resistance of a capsule endoscope inside an intestine. Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine. ,vol. 221, pp. 837- 845 ,(2007) , 10.1243/09544119JEIM173
Kundong Wang, Zhiwu Wang, Yilu Zhou, Guozheng Yan, Squirm robot with full bellow skin for colonoscopy 2010 IEEE International Conference on Robotics and Biomimetics. pp. 53- 57 ,(2010) , 10.1109/ROBIO.2010.5723302
Renjia Tan, Hao Liu, Gang Su, Cheng Zhang, Hongyi Li, Yuechao Wang, Experimental investigation of the small intestine's viscoelasticity for the motion of capsule robot 2011 IEEE International Conference on Mechatronics and Automation. pp. 249- 253 ,(2011) , 10.1109/ICMA.2011.5985665
Byungkyu Kim, Sukho Park, Jong-Oh Park, Microrobots for a capsule endoscope international conference on advanced intelligent mechatronics. pp. 729- 734 ,(2009) , 10.1109/AIM.2009.5229926