Characterizing the coefficient of friction between a capsule robot and the colon.

OBJECTIVE: A capsule robot (CR) with an onboard active locomotion mechanism, has been developed as a promising alternative to colonoscopy due to its minimally-invasive advantage. Predicting the traction force and locomotion resistance of the CR, which are both the friction force, is significantly important for the CR development and control. However, a comprehensive study concerning the coefficient of friction (COF) in the colon, which is necessary for prediction, is not available in literature. This paper is dedicated to determining a quantitative COF equation in terms of the contact pressure, hoop strain, and sliding velocity. METHODS: The COFs of three commonly-used materials of the CR (i.e., PDMS, white and transparent ABS plastic), are measured under 144 different friction cases (6 contact pressures×4 hoop strains×6 sliding velocities). By analyzing the measurements, the influence law of the three factors on the COFs of the three materials is revealed, and based on which, a general COF equation involving eight fitted constants is determined. RESULTS: The determination coefficients of the COF equation for the three materials are up to 0.9822, 0.9286, and 0.9696, respectively. The COF equation is used to predict the traction force and locomotion resistance of a crawler CR, and the predicting results fit well with the measured ones. CONCLUSION: The COF equation can provide a correct COF for friction force prediction. SIGNIFICANCE: It is promising to enable a better force and locomotion control for the CR in the colon.

Robust voltage-controlled transcutaneous energy transfer system for artificial anal sphincter.

BACKGROUND: The artificial anal sphincter (AAS) system has gained significant attention as a solution for treating fecal incontinence (FI). It relies on transcutaneous energy transfer (TET) as its primary energy source. However, changes in posture or biological tissue can cause misalignment of the coil, resulting in unstable power reception. Inadequate power affects charging efficiency, while excessive power leads to excessive heating at the receiver side. Consequently, achieving safe and constant voltage charging for the AAS becomes a complex challenge. METHODS: To maintain a consistent charging voltage and overcome the issue of variations in load and coil coupling strength, this article proposes a wireless charging control system that utilizes an LCC-S-type resonant network and phase shift to adjust the transmitting voltage based on feedback charging voltage in real time. In particular, the PI controller and neural network are introduced to change the phase-shift angle swiftly. The dynamic performance is then evaluated under different misalignments and presented with comparative results. RESULTS: The results indicate that the multilayer perceptron control system outperforms the PI. Under the complex misalignment disturbance, the average error of receiver side load voltage is only 0.007 V, with an average settling time of 960 ms. Additionally, the average temperature at the receiver side is 40.4°C. CONCLUSION: The experiments demonstrate that the proposed system effectively addresses the misalignment issue in TET during the charging, ensuring constant voltage charging at the receiver side and thermal safety.

Wireless power transfer system for capsule robot designed by radial square transmitting coil pair with novel ferrite structure.

BACKGROUND: Wireless power transmission for capsule robots has always posed challenges due to the unpredictable postures. METHODS: A radial transmitting coil with a novel ferrite structure is proposed, which consists of two parts with the function of converging magnetic induction lines and reducing magnetic leakage. To improve the flux density, uniformity, and shielding effectiveness, the design parameters are discussed and optimized on the basis of analytical calculations and simulation analysis. RESULTS: The proposed ferrite structure improves the power transfer efficiency from 2.78% to 5.21%. Additionally, the power transfer stability showed a slight improvement from 76.4% to 77.6%, while magnetic leakage was reduced by 84%. Finally, the human tissue safety is also discussed and verified. CONCLUSIONS: The wireless power transfer system is shown to be feasible and safe.

Simulation of artificial anal sphincter motion and interaction with intestinal environment using SOFA.

BACKGROUND: Artificial anal sphincter is an implantable medical device for treating fecal incontinence. Reasonable simulation facilitates the advancement of research and reduces experiments on biological tissue. However, the device's clamping motion and sensor interaction with the intestine in the simulation still require further exploration. This article presents a simulation of the artificial anal sphincter's clamping and sensing and its interaction with the intestinal environment using the Simulation Open Framework Architecture (SOFA). METHODS: Firstly, the proposed simulation algorithm and its principles in SOFA are analyzed. Secondly, the clamping motion and sensor system of the artificial anal sphincter are simulated. Thirdly, a finite element model of intestine is established based on the properties of intestinal soft tissue. Finally, the in vitro experiments are performed. RESULTS: The simulation results indicate that the sensor system of the artificial anal sphincter has good sensing performance during the clamping motion and fecal accumulation process. Experiments have shown that optimal sensory capabilities can be achieved as the posture of the artificial anal sphincter with a roll angle between 20° and 40°. The comparison demonstrates a mean absolute error of 10%-20% between simulation and in vitro experimental results for sensor forces, which verifies the effectiveness of the simulation. CONCLUSION: The proposed novel simulation achieves a more comprehensive interaction between the artificial anal sphincter motion and intestinal environment. This study may provide more effective simulation data for guidance in improving the performance of sensor perception of artificial anal sphincter for further research.

Ferrite Concentrating and Shielding Structure Design of Wireless Power Transmitting Coil for Inductively Coupled Capsule Robot.

High permeability material, especially the ferrite, has been widely used in wireless power transfer (WPT) to enhance the power transfer efficiency (PTE). However, for the WPT system of inductively coupled capsule robot, the ferrite core is solely introduced in power receiving coil (PRC) configuration to enhance the coupling. As for the power transmitting coil (PTC), very few studies focus on the ferrite structure design, and only the magnetic concentrating is taken into account without careful design. Therefore, a novel ferrite structure for PTC giving consideration to the magnetic field concentration as well as the mitigation and shielding of the leaked magnetic field is proposed in this paper. The proposed design is realized by combing the ferrite concentrating part and shielding part into a whole and providing a low reluctance closed path for magnetic induction lines, thereby improving the inductive coupling and PTE. Through analyses and simulations, the parameters of the proposed configuration are designed and optimized in terms of average magnetic flux density, uniformity, and shielding effectiveness. Prototypes of PTC with different ferrite configurations are established, tested, and compared to validate the performance enhancement. The experimental results indicate that the proposed design notably improves the average power delivered to the load from 373 mW to 822 mW and the PTE from 7.47% to 16.44%, with a relative percentage difference of 119.9%. Moreover, the power transfer stability is slightly enhanced from 91.7% to 92.8%.

Design and Analysis of a Three-Dimensional Spindle-Shaped Receiving Coil for a Targeted Therapy Capsule Robot in the Intestine.

Capsule robots capable of taking wireless power-transfer systems for diagnosis in the intestine enable the ability to avoid invasive detection, which causes damage to tissue. A targeted therapy capsule robot based on a wireless power-transfer system could move actively in the intestine, implementing diseases detection and drug delivery. Compared with traditional telescope, the capsule robot explores without pain to patients. However, the insufficient power supply has become a big issue for a targeted therapy capsule robot. To address this problem, we proposed a new type of three-dimensional spindle-shaped receiving coil that can couple well with unidirectional magnetic fields and supply sufficient energy even when there is a misalignment in position and angle, owing to which the electromagnetic energy decays quickly. The proposed receiving coil could be embedded on the capsule robot, suitable for the capsule size Φ15 mm × 25 mm. To obtain the maximum energy in three-dimensional space, an optimization model was built. The parameters of the receiving coil were optimized and analyzed. Then, the designed receiving coil was verified with an energy-transfer stability analysis based on both attitude angle and position in a bench test. Furthermore, a curved pipe experiment was conducted using a capsule robot prototype with the proposed three-dimensional spindle-shaped receiving coil. The results demonstrated that stable and sufficient power could be supplied by the proposed receiving coil for the capsule robot at any position and any attitude angle between transmitting and receiving coils.

A Novel Sensor System for In Vivo Perception Reconstruction Based on Long Short-Term Memory Networks.

Monitoring bodily pressure could provide valuable medical information for both doctors and patients. Long-term implantation of in vivo sensors is highly desirable in situations where perception reconstruction is needed. In particular, for fecal incontinence, artificial anal sphincters without perceptions could not remind patients when to defecate and even cause ischemic tissue necrosis due to uncontrolled clamping pressure. To address these issues, a novel self-packaging strain gauge sensor system is designed for in vivo perception reconstruction. In addition, long short-term memory (LSTM) networks, which show excellent performance in processing time series-related features and fitting properties, are used in this article to improve the prediction accuracy of the perception model. The proposed system has been tested and compared with the traditional linear regression (LR) approach using data from in vitro experiments. The results show that the Root-Mean-Square Error (RMSE) is reduced by more than 69%, which demonstrates that the prediction accuracy of the proposed LSTM model is higher than that of the LR model to reach a more accurate prediction of the amount of intestinal content. Furthermore, outcomes of in vivo experiments show that the robustness of the novel sensor system based on long short-term memory networks is verified through experiments with limited data.

Efficient Power Receiving Coil With Novel Ferrite Core Structure for Capsule Robot.

Power receiving coils (PRCs) with ferrite cores are widely used in wireless power transfer (WPT) for capsule robots (CRs) to enhance the power transfer efficiency (PTE). However, due to the large demagnetizing factor, the traditional one-dimensional hollow cylindrical ferrite core has its limitations in volume and performance improvement, which needs to be reconsidered. To this end, we propose a novel PRC equipped with a delicate, lightweight, and more efficient ferrite core structure in this paper. Different from the traditional ferrite core structure, the proposed design composed of distributed ferrite cores and end covers aims to minimize the negative impact of demagnetization on PTE and enhance the magnetic flux concentration. Based on the analysis of the PTE and mutual inductance, influence of the introduced cores on the WPT system is emphasized. The relationship between the change of ferrite core structures and the demagnetizing factors, as well as the effective permeability, is analyzed and simulated. Prototypes of PRCs with different ferrite core configurations are established, tested, and compared to validate the performance enhancement. Experimental results on the power delivered to the load (PDL) and PTE indicate that the proposed design has a volume reduction of 24.4% but performance enhancement of 36% compared with the traditional one with hollow cylindrical ferrite core, thanks to the structure-based demagnetizing factor optimization.

Design and evaluation of perception reconstruction with sensor system for artificial anal sphincter based on vector similarity.

BACKGROUND: Artificial organs are playing an increasingly important role in medical field. Artificial anal sphincter, as an example, is a widely used medical device for fecal incontinence. Though it could help patients maintain continence, the issue of perception reconstruction is still unsolved, which means that patients cannot control defecation as desired. METHODS: In this paper, a novel sensor system based on vector similarity has been analyzed and evaluated. The sensor system is a self-packaged strain gauge sensor with a small size 14.5 mm × 6 mm, especially for medical device implanted in body to reconstruct perception function. In order to overcome the disadvantages of single threshold judgment, a more accurate and reliable judgment standard for content pressure detection in rectum is developed by using vector similarity method. Therefore, in the novel sensor system, standard multi-parameters are comprehensive considered. Furthermore, weight-optimization of sensors are investigated since each sensor has played a different role in detection. Finally, sensor calibration, in vitro and in vivo experiments are established. RESULTS: In sensor calibration, the result R2 > 0.99 presents the strain gauge pressure sensor has a good linearity. After that, a series of in vitro experiments have been conducted. The optimized sensor system shows a high accuracy rate in perception reconstruction, which is 87.5% on early warning and 95% on the alarm. In the following in vivo experiments. The results indicate that the average accuracy of the proposed perception reconstruction module has increased by 17.7%, compared with that without optimized sensor system. CONCLUSIONS: All of these have proven that the novel perception reconstruction module with sensor system based on vector similarity is more acceptable and reliable.

Design and analysis of a wireless power transfer system for capsule robot using an optimised planar square spiral transmitting coil pair.

BACKGROUND: The wireless power transfer system (WPTS) is a promising way to continuously provide efficient and stable power for gastrointestinal capsule robots with active movement ability. METHODS: The proposed WPTS using an optimised planar square spiral transmitting coil pair with space-saving structure can flexibly adjust the distance between the coils according to the patient's condition, and thus has better applicability. To improve power transfer efficiency and uniformity of the generated magnetic field, design parameters are discussed and optimised based on the analytical calculation and simulation analysis. RESULTS: The power demand can be guaranteed with spacing distance of 350-500 mm and the peak received power of 1124 mW with a remarkable transfer efficiency of 7.8% can be obtained when the spacing reaches the minimum. The human electromagnetic exposure safety in different situations is also discussed and verified. CONCLUSIONS: The WPTS can provide power for capsule robots safely and efficiently.

Preliminary study of a novel artificial anal sphincter with perception reconstruction.

BACKGROUND: Artificial anal sphincter (AAS), as an advanced device, has been widely investigated by researchers around world. But the reliability of the structure is still unsatisfactory according to clinical results. What's more, the previous AAS systems are lack the ability of rectal perception as native anal sphincter, which fails to guarantee the safety of the blood supply. In addition, without it, the patient cannot determine when to defecate. METHODS: In order to improve the reliability and safety of current AAS systems, a novel structure AAS system with rectal perception function, based on pressure sensor module, is proposed in this article. The novel AAS system has a closed three-arm clamping mechanism, with transmission structure of cam-follower system. Then, the design, strength check, optimization and force analysis of the proposed mechanism are investigated. After that, to remodel rectal perception function, the novel sensor module system based on strain gauge is established. Finally, in vitro experiments are conducted. RESULTS: In vitro test, the sensor system could monitor the rectal pressure accurately. And when H = 24.6 cm (feeling the urge to have a bowel movement), the clamping pressure is 7.39 kPa. which is also less than the safe pressure 9.33 kPa. CONCLUSIONS: Good performance of the reliability and safety of both novel rectal perception function and new clamping mechanism have been showed.

An artificial anal sphincter based on a novel clamping mechanism: Design, analysis, and testing.

An artificial anal sphincter is a device to help patients with fecal incontinence rebuild the ability to control the excrement through the anus. In this article, an artificial anal sphincter based on a novel clamping mechanism (AASNCM) is proposed to improve the safety and reliability. The AASNCM, which is powered by a transcutaneous energy transfer system, consists of a novel clamping mechanism, a receiving coil and a control unit. According to design requirements, the novel clamping mechanism model was established. After that, its kinematics and dynamics were analyzed. The results of force tests on the prototype AASNCM show that the maximum values of clamping force and expanding force are 15.859 and 31.029 N, respectively. Comparing the experimental results with theoretical analysis, a good match can be concluded. Finally, in vitro experiments were conducted, and have verified the safety and reliability of the proposed AASNCM.

Design and testing of a novel gastrointestinal microrobot.

In order to improve the reliability, safety and whole digestive applicability of the gastrointestinal microrobot (GMR), a novel inchworm-like GMR is proposed in this paper. The expanding mechanism of the robot adopts an overlapping expanding arm structure. This structure increases the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) of the robot to 3.3, making the robot more applicable to the intestines in various parts of the human body. The mechanical model of the expanding arm is established, and the expanding force at different expanding radii is obtained. And then the expanding force is tested by a force test platform. The force test results: the maximum expanding force is 6.5 N, and the minimum expanding force is 1.3 N. The trend of the experimental and theoretical values is the same, and the experimental value is less than the theoretical value. A position limiting device based on Hall sensor is designed, which detects whether the mechanism reaches the limit position by non-contact method. This device alleviates the problem of sharp voltage drop caused by motor stall and improves the stability of the control circuit. The results of the Hall-type position limiting device (HPLD) testing show that the working currents of the expanding mechanism and the telescoping mechanism with HPLD are respectively 0.066A and 0.110A, and the robot control circuit works stably. Finally, the robot is tested in the intestine of the living pig, and the safety and reliability of the robot are verified. However, due to the decrease of the efficiency of wireless power transmission in vivo experiments and the change of the position of the receiving coil relative to the transmitting coil, sometimes the power supply is insufficient.

The Modelling, Analysis, and Experimental Validation of a Novel Micro-Robot for Diagnosis of Intestinal Diseases.

Intestinal-related diseases all around the world are increasing nowadays, and gradually become stubborn diseases threatening human health, and even lives. Diagnosis methods have attracted more and more attention. This article concerns a non-invasive way, a novel micro-robot, to diagnose intestinal diseases. This proposed micro-robot is a swallowable device, 14 mm in diameter, like a capsule. In order to make it possible for the micro-robot to move forward, backward, or anchor itself at a suspicious lesion point in the intestine with different lumen diameter sections, two key mechanisms have been proposed. One is an expanding mechanism with two-layer folded legs for anchoring. The designed expanding mechanism could realize a large variable diameter ratio, upwards of 3.43. In addition, a pair of specific annular gears instead of a traditional pinion drive is devised not only saving limited space, but also reducing energy loss. The other mechanism is a telescoping mechanism, possessing a self-locking lead screw nut system, which is used to obtain axial motion of the micro-robot. Then, the kinematics and dynamics of the micro-robot are analyzed. After that, the following experiments, including force tests and locomotion tests, are constructed. A good match is found between the theoretical results and the experimental data. Finally, in vitro experiments are performed with a prototype to verify the safety and reliability of the proposed micro-robot in porcine intestine.

Modelling on mutual inductance of wireless power transfer for capsule endoscopy.

Wireless capsule endoscopy (WCE) is noninvasive, painless, and riskless on detection for gastrointestinal disease. It attracts increasing attention. Wireless power transfer (WPT) technology is utilized to supply power for WCE. Receiving coil (RC) of WPT is capsulated into WCE. Its position and direction change all through gastrointestinal tract. Transmitting coil (TC) is worn by the patient. So the mutual inductance varies all the time. It should be studied to ensure sufficient receiving power. However, existing analytical methods do not reach satisfactory accuracy. They can only solve simple cases with positional misalignment. Numerical simulation models are time-consuming. Furthermore, an entirely new simulation must be repeated when any change in alignment occurs. Thus, based on geometry and misalignment of RC and TC, a model for mutual inductance is proposed. Compared with analytical methods, it is applicable to not only circular and rectangular RC, but also the elliptic, with directional misalignment. It costs below 0.1% of computational time of the simulation for the same accuracy. Moreover, any change in misalignment is easily handled by a simple change of parameter in the model. It reaches a tradeoff between computational accuracy and time. Receiving power is evaluated rapidly and accurately with proposed model.

[Design of Wearable Wireless Health Monitoring System and Status Recognition Algorithm].

A wearable wireless health monitoring system for drug addicts in compulsory rehabilitation centers was proposed. The system can continuously monitor multiple physiological parameters of drug addicts in real time, and issue early warning information when abnormal physiological parameters occur, so as to play the role of timely medical practice. In addition, this study proposes a convolutional neural network (CNN)model, which can evaluate the health status of drug addicts based on multiple physiological parameters. Experiments show that the model can be applied to the task of body state recognition in the open physiological parameter data set, and the recognition accuracy can reach up to 100% in a single physiological parameter data set; when the whole physiological data set is used, the recognition accuracy can reach 99.1%. The recognition accuracy exceeds the performance of the traditional pattern recognition method on this task, which verifies the superiority of the model.

Design and evaluation of puborectalis-like artificial anal sphincter that replicates rectal perception.

While fecal incontinence (FI) is not fatal, it can dramatically decrease the patient's quality of life. An artificial anal sphincter (AAS) is an implantable device that treats FI by replacing a diseased or damaged anal sphincter, thus allowing the patient's continence to be maintained. Here, we report a novel implantable puborectalis-like artificial anal sphincter (PAAS) that replicates rectal perception and has a low risk of ischemia necrosis. Using the pressure sensors embedded in the PAAS, the relationship between the mass of feces and the pressure was determined, and a feces mass estimation model was developed based on in vitro studies. Rectal perception is provided through the real-time monitoring of rectal feces, and the feeling of defecation is quantified based on a comparison between the feces mass and a preset threshold mass. In vivo studies were performed for validation, and the accuracy of the model was determined to be as high as 90%. The performance of the PAAS in the real-time monitoring of rectal feces and its in vivo biocompatibility were also evaluated. The device should further the functionality of existing AAS systems while improving their biosafety and thus expand the applicability of implantable AAS systems in the treatment of FI.

The evaluation of GI-pill gastrointestinal electronic capsule for colonic transit test in patients with slow transit constipation.

OBJECTIVE: The evaluation of GI-pill gastrointestinal electronic capsule for colonic transit test in patients with slow transit constipation (STC) was studied. MATERIALS AND METHODS: STC patients (n = 162) were randomly divided into experimental group (n = 84, orally taken GI-pill gastrointestinal electronic capsule and X-ray granule capsule) and control group (n = 78, orally taken X-ray granule capsule). Comparison of the time in colonic transit test between the two groups was conducted. The data of GI-pill gastrointestinal electronic capsule in vivo time, time of capsule passing through the colon, the number of high amplitude propagating contractions (HAPCs), and physiological response ratio were analyzed. RESULTS: There were no significant differences in the whole colonic transit test time, right colonic transit time, left colonic transit time, and rectosigmoid colonic transit time between experimental group and control group (p > 0.05). All patients had no abdominal pain, nausea, vomiting, black stool, difficulty in electronic capsule excretion, or any other discomfort during the test. CONCLUSION: GI-pill gastrointestinal electronic capsule can continuously evaluate the dynamic characteristics of digestive tract in STC patients and is consistent with X-ray granule capsule, which is meaningful to clinical application.

A Novel Expanding Mechanism of Gastrointestinal Microrobot: Design, Analysis and Optimization.

In order to make the gastrointestinal microrobot (GMR) expand and anchor in the gastrointestinal tract reliably, a novel expanding mechanism of the GMR is proposed in this paper. The overlapping expanding arm is designed to be used to increase the variable diameter ratio (ratio of fully expanded diameter to fully folded diameter) to 3.3, which makes the robot more adaptable to the intestinal tract of different sections of the human body. The double-layer structure of the expanding arm increases the contact area with the intestine, reducing the risk of intestinal damage. The kinematics and mechanical model of the expanding arm are established, and the rigid velocity, rigid acceleration, and expanding force of the expanding arm are analyzed. The elastodynamics model of the expanding arm is established. Through the finite element analysis (FEA), the velocity, acceleration, and the value and distribution of the stress of the expanding arm under elastic deformation are obtained. Based on the elastodynamics analysis, the structure of the expanding arm is optimized. By the structure optimization, the thickness of the expanding mechanism is reduced by 0.4mm, the weight is reduced by 31%, and the stress distribution is more uniform. Through the mechanical test, the minimum expanding force of the expanding mechanism is 1.3 N and the maximum expanding force is 6.5 N. Finally, the robot is tested in the rigid pipeline and the isolated intestine to verify the reliability and safety of the expanding mechanism.

Development of a Capsule Robot for Exploring the Colon.

A tether-less inchworm-like capsule robot (ILCR) is promising to enable a non-invasive exploration of the colon, while existing ILCRs show barely satisfactory movement performance because the colon environment is nonstructural. In this current study, we develop an enhanced ILCR based on a design rule of maximizing the achievable periodic stroke and minimizing the body length, with the aim of improving movement performance. By designing an axial compact expanding mechanism (EM), employing a novel linear mechanism (LM), and integrating a hollow-cylinder-like power source based on wireless power transmission (WPT), the enhanced ILCR achieves a periodic stroke of 38 mm within a small body length of 33 mm. Our experiments show that the EM and LM can work reliably in an ex-vivo colon with a lot of intestinal mucus, and the power source can safely supply a stable working voltage of 3.3 V even in the worst case. Being wirelessly controlled and powered, the enhanced ILCR shows satisfactory movement performance, with velocities of 15.8 cm/min, 12.1 cm/min, and 7.4 cm/min in a transparent tube, a tiled colon, and a suspended colon, respectively, promising to accomplish an exploration for the 1.5-m long colon within 30 min.