SoGut: A Soft Robotic Gastric Simulator

Origami-Inspired Bionic Soft Robot Stomach with Self-Powered Sensing

The stomach is a vital organ in the human digestive system, and its digestive condition is critical to human health. The physical movement of the stomach during digestion is controlled by the circular and oblique muscles. Existing stomach simulators are unable to realistically reproduce the physical movement of the stomach. Due to the complexity of gastric motility, it is challenging to simulate and sense gastric motility. This study proposes for the first time a bionic soft robotic stomach (BSRS) with an integrated drive and sensing structure inspired by origami and self-powered sensing technology. This soft stomach (SS) can realistically simulate and sense the movements of various parts of the human stomach in real-time. The contraction force and contraction rate of the BSRS are investigated with different viscosity contents, and the experimental values are similar to the physiological range (maximum contraction force is 3.2 N, and maximum contraction rate is 0.8). This paper provides an experimental basis for the study of gastric digestive medicine and food science by simulating the peristaltic motion of the BSRS according to the human stomach and by combining the triboelectric nanogenerator (TENG) sensing technology to monitor the motion of the BSRS in real-time.

Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves

Soft gastric simulators are in vitro biomimetic modules that can reproduce the antral contraction waves (ACWs). Along with providing information concerning stomach contents, stomach simulators enable experts to evaluate the digestion process of foods and drugs. Traditionally, open-loop control approaches were implemented on stomach simulators to produce ACWs. Constructing a closed-loop control system is essential to improve the simulator's ability to imitate ACWs in additional scenarios and avoid constant tuning. Closed-loop control can enhance stomach simulators in accuracy, responding to various food and drug contents, timing, and unknown disturbances. In this article, a new generation of anatomically realistic soft pneumatic gastric simulators is designed and fabricated. The presented simulator represents the antrum, the lower portion of the stomach where ACWs occur. It is equipped with a real-time feedback system to implement diverse closed-loop controllers on demand. All the details of the physical design, fabrication, and assembly process are discussed. Also, the measures taken for the mechatronics design and sensory system are highlighted in this article. Through several implementation algorithms and techniques, three closed-loop controllers, including model-based and model-free schemes are designed and successfully applied on the presented simulator to imitate ACWs. All the experimental outcomes are carefully analyzed and compared against the biological counterparts. It is demonstrated that the presented simulator can serve as a reliable tool and method to scrutinize digestion and promote novel technologies around the human stomach and the digestion process. This research methodology can also be utilized to develop other biomimetic and bioinspired applications.

Progress and challenges in designing dynamic in vitro gastric models to study food digestion

Understanding the mechanisms involved in food breakdown in the human gastrointestinal (GI) tract is essential in food digestion research. Research to study food digestion in the human GI tract requires in vivo and in vitro approaches. In vivo methods involving human or animal subjects are often cost-prohibitive and raise ethical concerns. For these reasons, in vitro approaches are becoming more common. Several dynamic in vitro models that mimic one or more components of the GI tract have been developed at various research institutions and by commercial companies. While there is evidence of considerable novelty and innovation in the design of these models, there are many differences among them in how the mechanical breakdown of solid foods is accomplished. In some systems, modulating water pressure is used to achieve peristaltic contractions of the gastric antrum, whereas, in other models, the flexible walls of a gastric chamber are compressed by the movement of rollers or clamps outside the walls of the test chamber. Although much progress has been made in standardizing the biochemical environment appropriate to the food digestion process, there is a lack of standard protocols to measure mechanical forces that result in the breakdown of solid foods. Similarly, no standardized methods are available to evaluate the results obtained from in vitro trials for validation purposes. Due to the large variability in the design features of in vitro models used for food digestion studies, developing consensus-based standards for the mechanical aspects of food breakdown is needed.

Soft Robotics: A Systematic Review and Bibliometric Analysis

In recent years, soft robotics has developed considerably, especially since the year 2018 when it became a hot field among current research topics. The attention that this field receives from researchers and the public is marked by the substantial increase in both the quantity and the quality of scientific publications. In this review, in order to create a relevant and comprehensive picture of this field both quantitatively and qualitatively, the paper approaches two directions. The first direction is centered on a bibliometric analysis focused on the period 2008-2022 with the exact expression that best characterizes this field, which is "Soft Robotics", and the data were taken from a series of multidisciplinary databases and a specialized journal. The second direction focuses on the analysis of bibliographic references that were rigorously selected following a clear methodology based on a series of inclusion and exclusion criteria. After the selection of bibliographic sources, 111 papers were part of the final analysis, which have been analyzed in detail considering three different perspectives: one related to the design principle (biologically inspired soft robotics), one related to functionality (closed/open-loop control), and one from a biomedical applications perspective.

Early career scientists converse on the future of soft robotics

During the recent decade, we have witnessed an extraordinary flourishing of soft robotics. Rekindled interest in soft robots is partially associated with the advances in manufacturing techniques that enable the fabrication of sophisticated multi-material robotic bodies with dimensions ranging across multiple length scales. In recent manuscripts, a reader might find peculiar-looking soft robots capable of grasping, walking, or swimming. However, the growth in publication numbers does not always reflect the real progress in the field since many manuscripts employ very similar ideas and just tweak soft body geometries. Therefore, we unreservedly agree with the sentiment that future research must move beyond "soft for soft's sake." Soft robotics is an undoubtedly fascinating field, but it requires a critical assessment of the limitations and challenges, enabling us to spotlight the areas and directions where soft robots will have the best leverage over their traditional counterparts. In this perspective paper, we discuss the current state of robotic research related to such important aspects as energy autonomy, electronic-free logic, and sustainability. The goal is to critically look at perspectives of soft robotics from two opposite points of view provided by early career researchers and highlight the most promising future direction, that is, in our opinion, the employment of soft robotic technologies for soft bio-inspired artificial organs.

A soft robotic sleeve mimicking the haemodynamics and biomechanics of left ventricular pressure overload and aortic stenosis

Preclinical models of aortic stenosis can induce left ventricular pressure overload and coarsely control the severity of aortic constriction. However, they do not recapitulate the haemodynamics and flow patterns associated with the disease. Here we report the development of a customizable soft robotic aortic sleeve that can mimic the haemodynamics and biomechanics of aortic stenosis. By allowing for the adjustment of actuation patterns and blood-flow dynamics, the robotic sleeve recapitulates clinically relevant haemodynamics in a porcine model of aortic stenosis, as we show via in vivo echocardiography and catheterization studies, and a combination of in vitro and computational analyses. Using in vivo and in vitro magnetic resonance imaging, we also quantified the four-dimensional blood-flow velocity profiles associated with the disease and with bicommissural and unicommissural defects re-created by the robotic sleeve. The design of the sleeve, which can be adjusted on the basis of computed tomography data, allows for the design of patient-specific devices that may guide clinical decisions and improve the management and treatment of patients with aortic stenosis.

Simulating human gastrointestinal motility in dynamic in vitro models

The application of dynamic in vitro gastrointestinal (GI) models has grown in popularity to understand the impact of food structure and composition on human health. Given that GI motility is integral to digestion and absorption, a predictive in vitro model should faithfully replicate the motility patterns and motor functions in vivo. In this review, typical characteristics of gastric and small intestinal motility in humans as well as the biomechanical and hydrodynamic events pertinent to gut motility are summarized. The simulation of GI motility in the presently existing dynamic in vitro models is discussed from an engineering perspective and categorized into hydraulic, piston/probe-driven, roller-driven, pneumatic, and other systems. Each system and its representative models are evaluated in terms of their motility patterns, the key hydrodynamic characteristics concerning gut motility, their performance in simulating the key physiological events, and their ability to establish in vitro-in vivo correlations. Practical Application: The review paper provided useful information in the design of dynamic GI models and the simulation of human gastric and small intestinal motility which are important for understanding food and health.

Finite-Time Contraction Control of a Ring-Shaped Soft Pneumatic Actuator Mimicking Gastric Pathologic Motility Conditions

Soft gastric simulators are the latest gastric models designed to imitate gastrointestinal (GI) functions in actual physiological conditions. They are used in in vitro tests for examining the drug and food behaviors in the GI tract. As the main motility function of the GI tract, the peristalsis can be altered in some gastric disorders, for example, by being delayed or accelerated. To simulate the stomach motility, a GI simulator must achieve a prescribed healthy or pathological peristalsis. This requires the simulator to be controlled in a closed loop. Unlike conventional controllers that stabilize a controlled plant asymptotically, a finite-time controller regulates state variables to their equilibrium points in a predetermined time interval. This article presents the design and implementation of a finite-time, model-based state feedback controller (based on the differential Riccati equation) on a soft robotic gastric simulator's actuators for the first time. We propose a mass-spring-damper model of a ring-shaped soft pneumatic actuator (RiSPA). RiSPA is a bellows-driven, elastomer-based actuator developed to reproduce motility functions of the lower part of the stomach (pyloric antrum). The proposed model is augmented by a new approach for modeling the soft tissues, where the moments of inertia of the system constituents are considered as time-varying functions. The finite-time controller is successfully applied on the RiSPA in numerical simulation and experimental implementation, and the results were thoroughly analyzed and discussed. Its accuracy and the ability to control in a predetermined time are highlighted in the tracking of peristalsis trajectory and contractive regulations.

Endoscopic simulators: training the next generation

PURPOSE OF REVIEW

To provide a review of current evidence evaluating endoscopic simulators as teaching platforms in gastroenterology training, with emphasis on upper gastrointestinal anatomy.

RECENT FINDINGS

Endoscopic simulators have leveraged mechanical, virtual reality and ex-vivo or live animal platforms to deliver training in both general and therapeutic endoscopy. Simulators have demonstrated their greatest utility in training novice endoscopists. Intermediate and expert endoscopists may additionally benefit from simulator exposure when learning advanced therapeutic techniques including large tissue resection or natural orifice transluminal endoscopic surgery.

SUMMARY

Simulator-based learning offers promise to complement conventional endoscopic training modalities for novice trainees. Nevertheless, additional evidence demonstrating a clear benefit is required for simulators to become an integral part of gastroenterology training. As novel advanced endoscopic therapies are developed, endoscopic simulators may assume a larger role in training prior to clinical practice.

A Biologically Inspired Ring-Shaped Soft Pneumatic Actuator for Large Deformations

Biomimicry of the stomach's peristaltic contractions can be challenging in the design, modeling, and control of a soft actuator. The mimicking of organ contractions advances our knowledge of the digestive system and analyzes the biological behavior by testing with a physical robot. This article proposes a ring-shaped soft pneumatic actuator (RiSPA) as a segment of the digestive tract. RiSPA is made of a ring frame with embedded bellow actuators that generate contractive motions. An embedded sensory system measures the contraction using range sensors. The kinematics and dynamics of RiSPA's contraction are modeled and simulated, while a state feedback algorithm is applied to them. The simulation results are validated experimentally by comparing the RiSPA measurements with desired applied signals. The proposed actuator provides controllable symmetrical and asymmetrical contractions analog to the human stomach. The results of RiSPA validate the prediction performance of the simulation and controller with applied sinusoidal signals as a peristaltic wave. RiSPA contractions can be applied to a broad range of applications, such as imitating the esophagus and intestine contractions.

Soft Grippers for Automatic Crop Harvesting: A Review

Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.