Resistance Model for Capsule Endoscope Traveling in the Curved Intestine

In past studies, when modeling the resistance of magnetically controlled capsules traveling through the small intestine, the small intestine was usually assumed to be a straight tube with constant diameter. However, the small intestine is curved in most cases, which means that the intestine can no longer be simplified to be a straight tube with constant diameter, meaning that existing resistance models will no longer be applicable. In this paper, based on the assumption that intestine is curved, the resistance models of the capsule running in the curved intestine is established, and then it is validated experimentally. The model provides a realistic foundation for the optimization and control of the magnetically controlled endoscopy. Graphical abstract