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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Modeling and Experimental Investigation of Rotational Resistance of a Spiral-Type Robotic Capsule Inside a Real Intestine
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Modeling and Experimental Investigation of Rotational Resistance of a Spiral-Type Robotic Capsule Inside a Real Intestine

机译：真实肠内螺旋型机器人胶囊旋转阻力的建模与实验研究

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摘要

In this study, the rotational resistance of a spiral-type capsule rotating inside a small intestine is investigated by in vitro experiments and analytical modeling, on which a limited literature is available. The results presented exhibit viscoelastic nature of the intestinal tissue. The significance of various spiral structures and rotating speeds is quantitatively evaluated from the propulsion point of view. Also, an analytical torque model is proposed and subsequently validated. The close match between the experimental results and numerical results from the model shows that the model is reasonably accurate to estimate the rotational resistance torque of the small intestine. Both the experimental and modeling works provide a useful guide to determine the torque required for a spiral-type endoscopic capsule operating in a “really” small intestine. Therefore, the proposed torque model can be used in the design and optimization of in-body robotic systems, which can remotely be articulated using magnetic actuation.
机译：在这项研究中，通过体外实验和分析模型研究了在小肠内部旋转的螺旋型胶囊的旋转阻力，但在有限的文献上才​​有研究。呈现的结果显示出肠组织的粘弹性。从推进的角度定量评估了各种螺旋结构和转速的重要性。此外，提出了一个分析扭矩模型，并随后进行了验证。实验结果与该模型的数值结果之间的紧密匹配表明，该模型在估计小肠的旋转阻力扭矩方面相当准确。实验和建模工作都为确定螺旋式内窥镜胶囊在“真正”的小肠中运行所需的扭矩提供了有用的指导。因此，所提出的扭矩模型可用于体内机器人系统的设计和优化，该系统可使用磁驱动进行远程连接。

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