Nonlinear dynamic behavior of self-propelled capsule endoscope in small intestine environment

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Journal of Vibration and Shock ›› 2022, Vol. 41 ›› Issue (21) : 86-96.

ZHU Jiapeng, LIAO Maolin, ZHU Zhiqiang, ZENG Zijin, LI Zhi

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Abstract

In order to optimize the speed of self-propelled capsule in the small intestine and improve the detection efficiency of capsule endoscope, the small intestine-capsule dynamic model is integrated by coupling the dynamic model of excitation capsule with the small intestinal motility and resistance model. Through numerical simulation, the effects of excitation frequency and amplitude of the capsule, and the mass and stiffness of the inner oscillator in the capsule are analyzed. It is found that the adjustment of excitation parameters and structural parameters will change the vibration state of the capsule, which will have a significant impact on the self-propulsion speed and moving direction of the capsule in the small intestine. When the average moving speed of the capsule reaches the maximum, its vibration state is single period with single impact; when the capsule moves in the opposite direction relative to the peristalsis direction of the small intestine, the corresponding excitation frequency and the mass of the inner oscillator are small. At this time, the vibration state of the capsule is single period with double impacts. In addition, when the excitation frequency, the mass and the stiffness of the inner oscillator is too large, the excitation drive will fail, and the capsule only moves depending on intestinal peristalsis.
Key words: Dynamics; nonlinearity; intestinal environment; vibro-impact capsule; self-propulsion

Key words

Dynamics / nonlinearity / intestinal environment / vibro-impact capsule / self-propulsion

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ZHU Jiapeng, LIAO Maolin, ZHU Zhiqiang, ZENG Zijin, LI Zhi. Nonlinear dynamic behavior of self-propelled capsule endoscope in small intestine environment[J]. Journal of Vibration and Shock, 2022, 41(21): 86-96

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