Project Focus

Our research in GI tissue mechanics has focused on characterizing the mechanical tissue properties of the GI tract and modeling how robotic capsule endoscope interact with these tissues. These efforts have included benchtop, animal and human in vivo measurements. Outcomes from this research will help medical device designer develop more effective tools for improved procedure outcomes. Project funding and recent peer-reviewed papers are listed below.

Migrating Motor Complex Force Sensor (MFS) Human TrialIEEE Transactions on Biomedical Engineering, May, 2016. (AbstractPDF)

IEEE Transactions on Biomedical Engineering (2016): An Intestinal Manometry Force Sensor for Robotic Capsule Endoscopy: An Acute, Multi-Patient In vivo Animal and Human Study

Abstract: Goal: Development of a new medical device class generally termed robotic capsule endoscopes (RCE) is currently being pursued by multiple research groups. These maneuverable devices will allow minimally invasive diagnosis and treatment of intestinal pathologies. While the intraluminal pressures related to the migrating motor complex (MMC) are well understood,...

Tribology International (2016): Frictional Resistance Model for Tissue-Capsule Endoscope Sliding Contact in the Gastrointestinal Tract

Abstract: Wireless capsule endoscopes are becoming prevalent in the medical field 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 efficiency for direct capsule-tissue contact depends on the frictional resistance between...

International Journal of Experimental and Computational Biomechanics (2014): A Preconditioning Protocol and Biaxial Mechanical Measurement of the Small Intestine

Abstract: Understanding the biomechanical properties of the small intestine is necessary for developing in vivo mobility systems for miniature robots. In this work, we have experimentally determined preconditioning parameters and then performed in-plane biaxial biomechanical characterisation of small intestinal tissue. Excised tissue samples underwent uniaxial tension tests for two physiological...

Medical Engineering and Physics (2013): A Quasi-static Model of Wheel-Tissue Interaction for Surgical Robotics

Abstract: Wheel-driven mobile in vivo robotic devices can provide an unconstrained platform for visualization and task performance. Careful understanding of the wheel–tissue interaction is necessary to predict in vivo performance of medical mobility systems. Here, an analytical study of the friction involving rolling contact of a surgical wheel, moving at...

Tribology Letters (2013): Preliminary Friction Force Measurements on Small Bowel Lumen when Eliminating Sled Edge Effects

Abstract: This study aims to produce experimental results for the coefficient of friction (COF) between the small bowel lumen and an edgeless, translating sled. Friction was measured as a function of sled speed under in situ and in vitro conditions. The results indicate that by eliminating edge effects, the COF...

Tribology International (2013): A Tribological Investigation of the Small Bowel Lumen Surface

Abstract: Robotic capsule endoscopy (RCE), where a robotically controlled capsule endoscope is used to navigate the gastrointestinal tract, is a developing technology currently hindered by mobility challenges within the small bowel. This research seeks to engage the frictional characterization of the small bowel with a formally designed experiment which samples...

Journal of Mechanical Behavior of Biomedical Materials (2013): A Quantitative Comparison of Soft Tissue Compressive Viscoelastic Model Accuracy

Abstract: Viscoelastic models are generally considered a good option for modeling biological tissue due to tissue time-dependency. However, although various forms of viscoelastic models have been developed, only a few have shown a good balance between model mathematical simplicity and experimental fit accuracy. Starting from a basic Standard Linear Solid...

Journal of Robotic Surgery (2013): Measurements of the Contact Force from Myenteric Contractions on a Solid Bolus

Abstract: The development of robotic capsule endoscopes (RCEs) is one avenue presently investigated by multiple research groups to minimize invasiveness and enhance outcomes of enteroscopic procedures. Understanding the biomechanical response of the small bowel to RCEs is needed for design optimization of these devices. In previous work, the authors developed,...

Journal of Mechanical Behavior of Biomedical Materials (2012): Small Intestine Mucusal Adhesivity to In vivo Capsule Robot Materials

Abstract: Multiple research groups are investigating the feasibility of miniature, swallowable, in vivo, untethered robots that are capable of traversing the small intestine for the purpose of acquiring biometrics and performing simple surgical procedures. A mathematical model of the intraluminal environment will speed the development of these so-called Robotic Capsule...

IEEE Transactions on Biomedical Engineering (2012): Characterization and Experimental Results of a Novel Sensor for Measuring the Contact Force from Myenteric Contractions

Abstract: The intraluminal pressures and traction forces associated with the migrating motor complex are well understood; however, the contact forces directly exerted by the bowel wall on a solid, or near solid, bolus have not previously been measured. Quantifying contact forces is an important component to understanding the net force...

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