An Automated Intestinal Biomechanics Simulator for Expediting Robotic Capsule Endoscope Development

摘要

Robotic capsule endoscopes (RCEs) are pill shaped devices used for noninvasive imaging, chemical sensing, performing simple surgical procedures, and active locomotion through the bowel lumen [1]. Currently, there is no accurate in vitro method for testing RCEs during development, and thus, they are prematurely tested in vivo at a cost of about $1400 per swine test [2]. The purpose of this research was to develop an in vitro method of testing RCEs without the need for repetitive animal experimentation. We have developed a device that simulates the biomechanical behavior and environment of the small intestine to expedite the development of RCEs. This device (Fig. 1) supports two independently controlled compressive pressure vessels that mimic peristaltic waves and traverse at a speed corresponding to that of human peristaltic waves: 0.08-2 cm/s [3-6]. The simulator was authenticated by calibrating the cavity pressure of the vessels to exert the main components of peristaltic force within human physiological ranges: traction force (4-40 gf) and contact force (80-500 gf). These values ascertain the biomimicry of the simulator and thus allow for experimentation of RCEs. Mounted intestines are kept moist by humidifying the device, thus creating an environmental chamber. The use of such a device will save researchers both time and money in research and development of RCEs, allowing for sooner commercialization of this emerging noninvasive technology.