Frictional Behavior of Solid and Hollow Cylinders in Contact Against a Porcine Intestine Specimen

  • Kim, Young-Tae (School of Mechanical Engineering, Yonsei University) ;
  • Kim, Dae-Eun (School of Mechanical Engineering, Yonsei University) ;
  • Park, Suk-Ho (School of Mechanical System Engineering, Chonnam National University) ;
  • Yoon, Eui-Sung (Microsystem Research Center, Korea Institute of Science and Technology)
  • Published : 2006.12.31

Abstract

In order to design an effective foot surface which can provide adequate friction for a self-propelled medical microrobot moving inside the small intestine, frictional mechanisms between the small intestine inner wall and the foot surface of the robot must be understood. In this paper, mechanical interlocking effect was considered to design the surface of the foot that can generate the desired frictional force. The concept of the design was derived from the hookworm that lives inside the small intestine. Hookwarms are known to adhere to the small intestine wall by interlocking with villi on the surface of the small intestine. The interlocking mechanism was considered as the main frictional mechanism for the design of the microrobot foot surface in this work. 2 mm and 6 mm diameter solid and hollow cylindrical shaped foot specimens were designed and tested to assess the frictional force between the specimens and the porcine small intestine specimen.

References

  1. http://www.givenimaging.com
  2. http://www.rfnorika.com
  3. http://www.microsystem.re.kr
  4. Mattthias, S., Stanislav, N. G., Biological Micro- and Nanotribology, pp. 101, Springer, 2001
  5. Robert, E. L., Scanning Electron Microscopy and X-Ray Microanalysis, Chap. 11, pp. 297-298, PTR Prentice Hall, Englewood Cliffs, New Jersey, 1993
  6. Baek, N. K., Sung, I. H., and Kim, D. E., 'Frictional Resistance Characteristics of a Capsule inside the Intestine for Microendoscope Design', Proc. Instn Mech. Engrs Vol. 218 Part H: J. Engineering in Medicine, pp. 193-201, 2004
  7. Fung, Y. C., Biomechanics Mechanical Properties of Living Tissues, Chap. 2, pp. 41, Springer-Verlag, New York, 1993
  8. Kim, J. S., Kim, Y. T., Sung, I. H., Kwon, E. Y., Kim, D. E., and Kim, B. K., 'Biotribological Characteristics of Capsule-type Endoscope', International Nanotribology Forum-NanoSikkim II: Friction and Biotribology, Nov. 8-12, Pelling Sikkim India, 2004
  9. Kim, Y. T., Kim, J. S., Sung, I. H., Kwon, E. Y., Kim, D. E., and Kim, B. K., 'Frictional Behavior of Capsule-type Endoscope and Self-propelling Colonoscope Inside the Intestine', International Tribology Conference (ITC) 2005, May 29-June 2, Kobe Japan, pp. 294, 2005
  10. Kim, J. S., Sung, I. H., Kim, Y. T., Kwon, E. Y., Kim, D. E., and Jang, Y. H., 'Experimental Investigation of Frictional and Viscoelastic Properties of Intestine for Microendoscope Application', Tribology Letters, Vol. 22, No. 2, pp. 143-149, 2006 https://doi.org/10.1007/s11249-006-9073-0
  11. Shinichi, T., Yoshiaki, F., and Shinichi, H., 'Deformation Modeling of Viscoelastic Objects for Their Shape Control', Proceedings of the 1999 EEE, International Conference on Robotics & Automation, Detroit. Michigan May 1999
  12. Storkholm, J. H., Villadsen, G. E., Jensen, S. L., and Gregersen, H., 'Passive Elastic Wall Properties in Isolated Guinea Pig Small Intestine', Digestive Diseases and Sciences, Vol. 40, No. 5, pp. 976-982, 1995 https://doi.org/10.1007/BF02064185
  13. Gregersen, H., Kassab, G., Pallencaoe, E., Lee, C., Chien, S., Skalak, R., and Fung, Y. C., 'Morphometry and Strain Distribution in Guinea Pig Duodenum with Reference to the Zero-stress State', Am J Physiol Gastrointest Liver Physiol, Vol. 273, pp. 865-874, 1997 https://doi.org/10.1152/ajpgi.1997.273.4.G865