用于体内机器人移动性的小肠初步力学特性研究
Preliminary mechanical characterization of the small bowel for in vivo robotic mobility.
作者信息
Terry Benjamin S, Lyle Allison B, Schoen Jonathan A, Rentschler Mark E
机构信息
Department of Mechanical Engineering, University of Colorado at Boulder, Boulder, CO 80309-0427, USA.
出版信息
J Biomech Eng. 2011 Sep;133(9):091010. doi: 10.1115/1.4005168.
In this work we present test methods, devices, and preliminary results for the mechanical characterization of the small bowel for intra luminal robotic mobility. Both active and passive forces that affect mobility are investigated. Four investigative devices and testing methods to characterize the active and passive forces are presented in this work: (1) a novel manometer and a force sensor array that measure force per cm of axial length generated by the migrating motor complex, (2) a biaxial test apparatus and method for characterizing the biomechanical properties of the duodenum, jejunum, and ileum, (3) a novel in vitro device and protocol designed to measure the energy required to overcome the self-adhesivity of the mucosa, and (4) a novel tribometer that measures the in vivo coefficient of friction between the mucus membrane and the robot surface. The four devices are tested on a single porcine model to validate the approach and protocols. Mean force readings per cm of axial length of intestine that occurred over a 15 min interval in vivo were 1.34 ± 0.14 and 1.18 ± 0.22 N cm(-1) in the middle and distal regions, respectively. Based on the biaxial stress/stretch tests, the tissue behaves anisotropically with the circumferential direction being more compliant than the axial direction. The mean work per unit area for mucoseparation of the small bowel is 0.08 ± 0.03 mJ cm(-2). The total energy to overcome mucoadhesion over the entire length of the porcine small bowel is approximately 0.55 J. The mean in vivo coefficient of friction (COF) of a curved 6.97 cm(2) polycarbonate sled on live mucosa traveling at 1 mm s(-1) is 0.016 ± 0.002. This is slightly lower than the COF on excised tissue, given the same input parameters. We have initiated a comprehensive program and suite of test devices and protocols for mechanically characterizing the small bowel for in vivo mobility. Results show that each of the four protocols and associated test devices has successfully gathered preliminary data to confirm the validity of our test approach.
在这项工作中，我们展示了用于腔内机器人移动性的小肠机械特性表征的测试方法、装置及初步结果。研究了影响移动性的主动力和被动力。本文介绍了四种用于表征主动力和被动力的研究装置及测试方法：（1）一种新型压力计和力传感器阵列，用于测量由移行运动复合波产生的每厘米轴向长度的力；（2）一种双轴测试装置及方法，用于表征十二指肠、空肠和回肠的生物力学特性；（3）一种新型体外装置及方案，旨在测量克服黏膜自粘性所需的能量；（4）一种新型摩擦计，用于测量黏膜与机器人表面之间的体内摩擦系数。在单个猪模型上对这四种装置进行了测试，以验证该方法和方案。在体内15分钟间隔内，小肠每厘米轴向长度的平均力读数在中部和远端区域分别为1.34±0.14和1.18±0.22 N cm⁻¹。基于双轴应力/拉伸测试，组织表现出各向异性，圆周方向比轴向方向更具柔韧性。小肠黏膜分离的单位面积平均功为0.08±0.03 mJ cm⁻²。克服猪小肠全长黏膜粘附的总能量约为0.55 J。在活体黏膜上以1 mm s⁻¹速度行进的6.97 cm²弯曲聚碳酸酯滑板的平均体内摩擦系数（COF）为0.016±0.002。在相同输入参数下，这略低于在切除组织上的COF。我们已启动一个全面的项目以及一套测试装置和方案，用于对小肠进行体内移动性的机械特性表征。结果表明，这四种方案及相关测试装置均成功收集了初步数据，以证实我们测试方法的有效性。
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