Dynamic analysis of a soft capsule robot self-propelling in the small intestine via finite element method

Abstract To reduce potential trauma to the intestine caused by rigid shell while also optimising its progression efficiency, an elastomer coating was applied a self-propelled capsule robot for small-bowel endoscopy. The is periodically excited inner mass interacting with main body of in presence intestinal resistance. This work explored dynamic responses different coatings (i.e., elastic moduli and thicknesses) lumen small through three-dimensional finite element analysis. driving parameters robot, including amplitude, frequency duty cycle square-wave excitation, were further tested reveal dynamics this soft robot. By analysing numerical results, proposed model can provide quantitative predictions on contact pressure, resistance force robot-intestine under coatings. It found that softer is, lesser pressure between intestine, thus implying trauma. findings design guidelines evaluation means robotic engineers who are developing medical robots bowel examinations as well clinical practitioners working