{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T09:15:49Z","timestamp":1772183749916,"version":"3.50.1"},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2018,9,19]],"date-time":"2018-09-19T00:00:00Z","timestamp":1537315200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,2]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Minimally invasive surgery is a developing direction of modern medicine. With the successful development of controllable capsule endoscopies, capsule robots are very popular in the field of gastrointestinal medicine. At present, the study of intestinal robots is aimed at the pipeline environment of a single-phase liquid flow. But there exist food residues (i.e. solid particles) or liquid foods in the actual intestine, so intestinal fluid should be liquid\u2013solid or liquid\u2013liquid two-phase mixed fluid. For inner spiral capsule robots with different internal diameters and outer spiral capsule robots, using computational fluid dynamics (CFD) method, the operational performance indicators (i.e. axial thrust force, circumferential resisting moment and maximum pressure to pipeline wall) of spiral capsule robots are numerically calculated in the liquid\u2013solid or liquid\u2013liquid two-phase mixed fluid. By the orthogonal experimental optimization method, the optimum design of spiral capsule robots is obtained in the liquid\u2013solid mixed fluid. The experimental verification has been also carried out. The results show that in the liquid\u2013solid two-phase fluid, the axial thrust force and circumferential resisting moment of the spiral capsule robots decrease with the increase of the size or concentration of solid particles. In the same liquid\u2013solid or liquid\u2013liquid mixed fluid, the operational performance indicators of outer spiral robots are much higher than those of inner spiral robots, and the operational performance indicators of inner spiral robots with bigger internal diameters are higher than those with smaller internal diameters. Adding solid particles of high concentration in the pipeline containing liquid will reduce the drive performance of spiral capsule robots, but adding another liquid of high viscosity will improve the drive performance of spiral capsule robots.<\/jats:p>","DOI":"10.1017\/s0263574718000954","type":"journal-article","created":{"date-parts":[[2018,9,19]],"date-time":"2018-09-19T04:53:09Z","timestamp":1537332789000},"page":"213-232","source":"Crossref","is-referenced-by-count":6,"title":["Operational performance analysis of spiral capsule robot in multiphase fluid"],"prefix":"10.1017","volume":"37","author":[{"given":"Liang","family":"Liang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bai","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yong","family":"Tang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,9,19]]},"reference":[{"key":"S0263574718000954_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-015-0139-5"},{"key":"S0263574718000954_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.07.009"},{"key":"S0263574718000954_ref9","doi-asserted-by":"crossref","unstructured":"C. Zhang , G. Su , R. J. Tan , and H. Y. Li \u201cExperimental Investigation of the Intestine's Friction Characteristic based on \u201cInternal Force-Static Friction\u201d Capsubot,\u201d Proceedings of the IASTED International Conference Biomedical Engineering, Innsbruck, Austria (2011) pp. 16\u201318.","DOI":"10.2316\/P.2011.723-026"},{"key":"S0263574718000954_ref23","volume-title":"Orthogonal and Uniform Experimental Design","author":"Fang","year":"2001"},{"key":"S0263574718000954_ref15","doi-asserted-by":"crossref","unstructured":"N. Liang , J. Guo , S. Guo et al., \u201cPerformance Evaluation of the Wireless Micro Robot in the Fluid,\u201d Proceedings of the IEEE International Conference on Mechatronics and Automation, Beijing, China (2015) pp. 958\u2013963.","DOI":"10.1109\/ICMA.2015.7237615"},{"key":"S0263574718000954_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2005.05.004"},{"key":"S0263574718000954_ref6","doi-asserted-by":"crossref","unstructured":"A. A. Calder\u00f3n , J. C. Ugalde , J. C. Zagal et al., \u201cDesign, Fabrication and Control of a Multi-Material-Multi-Actuator Soft Robot Inspired by Burrowing Worms,\u201d Proceedings of the IEEE International Conference on Robotics and Biomimetics, Qingdao, China (2016) pp. 31\u201338.","DOI":"10.1109\/ROBIO.2016.7866293"},{"key":"S0263574718000954_ref2","doi-asserted-by":"publisher","DOI":"10.1067\/mge.2000.110204"},{"key":"S0263574718000954_ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0954411917693660"},{"key":"S0263574718000954_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2228001"},{"key":"S0263574718000954_ref21","first-page":"193","article-title":"Experimental study concerning the effects of profile morphology of intestine on the frictional characteristics","volume":"34","author":"Wang","year":"2014","journal-title":"Tribology"},{"key":"S0263574718000954_ref4","doi-asserted-by":"crossref","unstructured":"H. J. Park , H. W. Nam , B. S. Song et al., \u201cDesign of Bi-directional and Multi-channel Miniaturized Telemetry Module for Wireless Endoscopy,\u201d Proceedings of the 2nd Annual International IEEE-EMB Special Topic Conference on Microtechnologies in Medicine & Biology, Madison, USA (2002) pp. 273\u2013276.","DOI":"10.1109\/MMB.2002.1002329"},{"key":"S0263574718000954_ref17","first-page":"1","article-title":"Research on a novel inner and outer spiral micro in-pipe robot","volume":"8","author":"Liang","year":"2014","journal-title":"J. Adv. Mech. Design Syst. Manuf."},{"key":"S0263574718000954_ref3","unstructured":"R. F. Sayaka , System Lab. [EB\/OL]. 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P\u00e9rez-Arancibia , \u201cAn earthworm-inspired soft crawling robot controlled by friction,\u201d Proceedings of the IEEE International Conference on Robotics and Biomimetics, Macau, China (2017) pp. 834\u2013841.","DOI":"10.1109\/ROBIO.2017.8324521"},{"key":"S0263574718000954_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001507"},{"key":"S0263574718000954_ref1","volume-title":"Mapping of Gastrointestinal Remote Capsule Endoscopy","author":"Liao","year":"2015"},{"key":"S0263574718000954_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TMAG.2003.816731"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718000954","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,12]],"date-time":"2019-04-12T15:59:57Z","timestamp":1555084797000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718000954\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,9,19]]},"references-count":23,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,2]]}},"alternative-id":["S0263574718000954"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718000954","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,9,19]]}}}