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Frictional resistance model for tissue-capsule endoscope sliding contact in the gastrointestinal tract.pdf
Tribology International 102 (2016) 472–484
Contents lists available at ScienceDirect
Tribology International
journal homepage: /locate/triboint
Frictional resistance model for tissue-capsule endoscope sliding contact in the gastrointestinal tract
Levin J. Sliker a,1,n, Gastone Ciuti a, Mark E. Rentschler b, Arianna Menciassi a
a The BioRobotics Institute, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio, 34, 56025 Pontedera (Pisa), Italy b Department of Mechanical Engineering, University of Colorado, 114 ECME, Engineering Center, 1111 Engineering Drive, Boulder, CO 80309, USA
article info
Article history: Received 29 January 2016 Received in revised form 1 June 2016 Accepted 3 June 2016 Available online 9 June 2016
Keywords: Friction model Sliding contact Surface topography Friction measurement
abstract
Wireless capsule endoscopes are becoming prevalent in the medical ?eld as screening, diagnostic and therapeutic tools within the gastrointestinal (GI) tract. However, state-of-the art capsules lack active locomotion systems, which could improve accuracy and broaden applications. The actuation ef?ciency for direct capsule-tissue contact depends on the frictional resistance between the capsule and the intestinal wall. A model for predicting the resistance force on a capsule was developed and experimentally validated by performing drag force experiments using various cylindrical capsule design parameters and tissue properties. Of the design parameters studied, capsule edge radius in?uences frictional resistance the most. The average normalized root-mean-square error between the model and experimental results is 6.25%. These results could lead to optimized capsule endoscope actuation systems.
2016 Elsevier Ltd. All rights reserved.
1. Introduction
In recent years, wireless capsule endoscopes (WCEs) have become commercially available and a popular topic of research in the diagnostic robotics ?eld. State-of-the-art WCEs are gaining popularity as a screening tool within t
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