Grip to the Colon by Means of Macroscopic Adhesion-Controlled Friction

Manipulating friction without applying high normal forces is important for an intestine inspection and intervention device in order to eliminate the risk of tissue damage. One possible solution is to generate friction by means of adhesive forces. The adhesive forces should be high to offer sufficient grip without needing high normal forces. The generated friction is then called adhesion-controlled and depends on the size of the area in contact. Adhesion-controlled friction is well known to be dominant at microscopic and molecular levels. According to this paper, adhesion-controlled friction can be applicable on the macroscopic scale as well and, more specifically, within a range of forces in which friction is usually considered to be load-controlled. The intestine inspection and intervention device manipulates the friction with the colonic wall by means of mucoadhesive films. In this way, grip with high static friction is achieved without the need to apply high normal forces and friction is altered by changing the size of the area of the mucoadhesive film. Friction theories on different scales are revisited and considered in order to understand the dominant phenomena and the principles associated with this macroscopic adhesion-controlled friction.