Abstract
This study investigates the effects of soft-robot geometry on magnetic guiding to develop an efficient helical mediator on a three-dimensional (3D) gastric cancer model. Four different magnetically active helical soft robots are synthesized by the inclusion of 5-μm iron particles in polydimethylsiloxane matrices. The soft robots are named based on the diameter and length (D2-L15, D5-L20, D5-L25, and D5-L35) with samples having varied helical pitch and weight values. Then, the four samples are tested on a flat surface as well as a stomach model with various 3D wrinkles. We analyze the underlying physics of intermittent magnetomotility for the helix on a flat surface. In addition, we extract representative failure cases of magnetomotility on the stomach model. The D5-L25 sample was the most suitable among the four samples for a helical soft robot that can be moved to a target lesion by the magnetic-flux density of the stomach model. The effects of diameter, length, pitch, and weight of a helical soft robot on magnetomotility are discussed in order for the robot to reach the target lesion successfully via magnetomotility.
Highlights
IntroductionPatients are often struggling with repeated gastroscopic examinations despite the improvements in endoscopic probes in terms of higher flexibility and smaller diameter for patient convenience [7]
1,000,000 gastric cancers were newly diagnosed worldwide in 2012 [1], and the incidence of gastric cancer is the highest in Eastern Asia, Eastern Europe, and South America [2,3].In Korea and Japan, where the incidence of gastric cancer is much higher than that in Western countries [2,3,4], routine gastric cancer screening is conducted via upper gastrointestinal endoscopy [5,6].patients are often struggling with repeated gastroscopic examinations despite the improvements in endoscopic probes in terms of higher flexibility and smaller diameter for patient convenience [7]
We suggest the rolling motility of helical soft robots, whose helixes reduce rolling resistance when compared to cylindrical geometry due to its lower mass [23,24,25]
Summary
Patients are often struggling with repeated gastroscopic examinations despite the improvements in endoscopic probes in terms of higher flexibility and smaller diameter for patient convenience [7] This has led to a need for the development of diagnostic or therapeutic methods for gastric cancer using very small-size equipment for patient convenience. In an effort to replace the tethered flexible endoscopes, untethered pill-sized capsule endoscopes with a wireless video-transmission device have been used [11,12] This device enables access to areas that were previously inaccessible and reduces the discomfort caused to the patient such as in the cases of odynophagia and aspiration as well as risks linked to sedation during the examination. The challenge has been in determining the efficiency with which a helical object can be delivered to a target lesion, such as a cancer or an ulcer, inside the stomach
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