Technical Briefs

Sensor for Measuring the Contact Force From Human Myenteric Contractions for In Vivo Robotic Capsule Endoscope Mobility

[+] Author and Article Information
Benjamin S. Terry

Department of Mechanical and Materials Engineering,
University of Nebraska–Lincoln,
Lincoln, NE, 68508
e-mail: bterry2@unl.edu

Matthew M. Francisco

Department of Mechanical Engineering,
University of Colorado at Boulder,
Boulder, CO 80309-0427
e-mail: matthew.francisco@colorado.edu

Jonathan A. Schoen

Department of Surgery,
University of Colorado at Denver,
Aurora, CO 80045
e-mail: jonathan.schoen@ucdenver.edu

Mark E. Rentschler

Department of Mechanical Engineering,
University of Colorado at Boulder,
Boulder, CO 80309-0427
e-mail: mark.rentschler@colorado.edu

Manuscript received March 15, 2013; final manuscript received April 25, 2013; published online July 3, 2013. Assoc. Editor: Arthur G. Erdman.

J. Med. Devices 7(3), 030911 (Jul 03, 2013) (2 pages) Paper No: MED-13-1066; doi: 10.1115/1.4024477 History: Received March 15, 2013; Revised April 25, 2013

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Pan, G., and Wang, L., 2012, “Swallowable Wireless Capsule Endoscopy: Progress and Technical Challenges,” Gastroenterol. Res. Pract., 2012, p. 841691. [PubMed]
Terry, B. S., Schoen, J. A., and Rentschler, M. E., 2012, “Characterization and Experimental Results of a Novel Sensor for Measuring the Contact Force from Myenteric Contractions,” Biomed. Eng., IEEE Transactions on, PP(99), p. 1.
Terry, B. S., Schoen, J. A., and Rentschler, M. E., 2012, “Measurements of the Contact Force From Myenteric Contractions on a Solid Bolus,” Journal of Robotic Surgery, pp. 1–5.
Terry, B. S., Lyle, A. B., Schoen, J. A., and Rentschler, M. E., 2011, “Preliminary Mechanical Characterization of the Small Bowel for in vivo Robotic Mobility,” J. Biomech. Eng., 133(9), pp. 091010–7. [CrossRef] [PubMed]
Terry, B. S., Passernig, A. C., Hill, M. L., Schoen, J. A., and Rentschler, M. E., 2012, “Small Intestine Mucosal Adhesivity to In Vivo Capsule Robot Materials,” J. Mech. Behav. Biomed. Mater., 15C, pp. 24–32. [CrossRef]
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Sliker, L. J., Kern, M. D., Schoen, J. A., and Rentschler, M. E., 2012, “Surgical Evaluation of a Novel Tethered Robotic Capsule Endoscope Using Micro-Patterned Treads,” Surg Endosc, 26(10), pp. 2862–2869. [CrossRef] [PubMed]


Grahic Jump Location
Fig. 1

Schematic of MFS in vivo. As described in [2], characterization of the MFS is achieved by relating sensor pressure, Pi, to intraluminal pressure, Pi, abdominal pressure, Pa, contact pressure, Pc, and sensor temperature, Ts. Sensor output is the contact force experienced by the MFS. A purpose of this research is to replace the latex balloons and plastic components with their biocompatible equivalents.

Grahic Jump Location
Fig. 2

Human MFS mounted to the end of a grasper showing biocompatible components. The Sensor is inflated for calibration prior to deflation and insertion (top). Deflated sensor shown being inserted through a 10 mm trocar ready for placement in the small intestine (bottom).



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