Kwon Jiwoon, Cheung Eugene, Park Sukho, Sitti Metin
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32611, USA.
Biomed Mater. 2006 Dec;1(4):216-20. doi: 10.1088/1748-6041/1/4/007. Epub 2006 Oct 20.
A micro-pillar-based silicone rubber adhesive coated with a thin silicone oil layer is investigated in this paper for developing friction-based clamping mechanisms for robotic endoscopic microcapsules. These adhesives are shown to enhance the frictional force between the capsule and the intestinal wall by a factor of about seven over a non-patterned flat elastomer material. In this study, tests performed on fresh samples of pig small intestine are used to optimize the diameter of the micro-pillars to maximize the frictional forces. In addition, the effects of other factors such as the oil viscosity and applied normal forces are investigated. It is demonstrated that the proposed micro-pillar pattern based elastomer adhesive exhibits a maximal frictional force when the pillar diameter is 140 microm and coated silicon oil has a very high viscosity (10,000 cSt). It is also found that the frictional force of the micro-patterned adhesive increases nonlinearly in proportion to the applied normal force. These adhesives would be used as a robust attachment material for developing robotic capsule endoscopes inside intestines with clamping capability.
本文研究了一种涂有薄硅油层的基于微柱的硅橡胶粘合剂，用于开发用于机器人内窥镜微胶囊的基于摩擦的夹紧机构。与无图案的扁平弹性体材料相比，这些粘合剂可将胶囊与肠壁之间的摩擦力提高约7倍。在本研究中，对猪小肠新鲜样本进行的测试用于优化微柱直径，以最大化摩擦力。此外，还研究了其他因素的影响，如油的粘度和施加的法向力。结果表明，当柱直径为140微米且涂覆的硅油具有非常高的粘度（10000厘沲）时，所提出的基于微柱图案的弹性体粘合剂表现出最大摩擦力。还发现，微图案粘合剂的摩擦力与施加的法向力成非线性比例增加。这些粘合剂将用作一种坚固的附着材料，用于开发具有夹紧能力的肠道内机器人胶囊内窥镜。
