Dynamics of a vibro-impact self-propelled capsule encountering a circular fold in the small intestine

Article Robotics

Design, Actuation, and Control of an MRI-Powered Untethered Robot for Wireless Capsule Endoscopy

Onder Erin et al.

Summary: MRI-powered magnetic robotics aims to utilize clinical MR scanners as remote robotic manipulation platforms for interventional MRI procedures. The presence of the main magnetic field inside MRI systems imposes constraints on magnetic actuation techniques, leading to the development of a wireless magnetic robot that creates rotation around a contact point with minimal translation for endoscopy purposes. The robot demonstrates accurate closed-loop control performance with minimal undesired translation during orientation control, paving the way for active capsule endoscopy actuated by MRI devices.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Review Biophysics

Next-generation ingestible devices: sensing, locomotion and navigation

Fahad N. Alsunaydih et al.

Summary: There is a significant interest in exploring the internal activities of the human body and measuring important parameters to understand, treat and diagnose the digestive system environment and related diseases. Wireless capsule endoscopy is widely used for gastrointestinal tract exploration due to its effectiveness and tolerability. Current ingestible sensing technology provides a valuable diagnostic tool, but there is a need for active ingestible WCEs for improvements in drug delivery, localization of abnormalities, cost reduction and time consumption. The methods for implementing next-generation active WCEs are evaluated in terms of safety, velocity, complexity of design, control, and power consumption.

PHYSIOLOGICAL MEASUREMENT (2021)

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Article Engineering, Mechanical

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

Jiyuan Tian et al.

Summary: This study examined the interactions between a self-propelled capsule robot and the small intestine through FE analysis and experimental investigation. The geometric shape and progression speed of the capsule were identified as key factors in reducing intestinal trauma caused by contact and friction. Additionally, the mesentery was considered as a boundary to restrict intestinal mobility, and the FE model provided quantitative estimations of contact pressure and resistance force under different conditions.

INTERNATIONAL JOURNAL OF MECHANICAL SCIENCES (2021)

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Article Engineering, Mechanical