Review of the swallowing system and process for a biologically mimicking swallowing robot

Abstract The consumption of liquid and solid foods is primal to the maintenance of adequate hydration and nutrition in man. Ingestion is a complex process where palatable material is broken down and discretized into boluses after which they are conveyed to the stomach for digestion. There exists difficulty in monitoring the efficacy of bolus transport through the deglutitive apparatus in vivo, especially in patients which exhibit pathological difficulties. To understand the effects of bolus rheology on the deglutition process we propose to develop a bio-mimetic mechatronic swallowing device. This will facilitate investigation of the rheological properties as the bolus is in transit to determine how they interact with the swallowing process. These properties are of interest to food technologists who aim to develop foods for meeting consumer acceptance of various requirements, such as for dysphagic populations to facilitate safe swallowing. The purpose of this review is to develop an awareness of the physiological system and the transferability of the geometrical, actuation, and control concepts into the engineering domain, for the purpose of building a swallowing robot. It presents a body of knowledge, beginning with the behavior and measurement of the deglutitive apparatus, followed by an investigation of deglutitive adaptation in response to rheological stimuli. The neural control strategies are then discussed before concluding with the state of, and demand for, research in the medical, food textural, and swallowing robotic fields.

[1]  I. Aydogdu,et al.  Neurophysiology of swallowing , 2003, Clinical Neurophysiology.

[2]  Martin W. Donner,et al.  Dynamic imaging of the pharynx , 1985, Gastrointestinal Radiology.

[3]  D. Sampson,et al.  Evaluation of pharyngeal shape and size using anatomical optical coherence tomography in individuals with and without obstructive sleep apnoea , 2008, Journal of sleep research.

[4]  Arthur J. Miller,et al.  Neurophysiological basis of swallowing , 1986, Dysphagia.

[5]  Katherine Gray-Donald,et al.  A novel dysphagia diet improves the nutrient intake of institutionalized elders. , 2006, Journal of the American Dietetic Association.

[6]  Hiroyuki Ishii,et al.  WKA-1R Robot assisted quantitative assessment of airway management , 2008, International Journal of Computer Assisted Radiology and Surgery.

[7]  R. Leonard,et al.  Timing of Events in Normal Swallowing: A Videofluoroscopic Study , 2000, Dysphagia.

[8]  Hideaki Takanobu,et al.  Mechanism and control of tongue robot , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Michael A. Crary,et al.  Dysphagia: Clinical Management in Adults and Children , 2009 .

[10]  W. Schwarz,et al.  Rheology and the swallow-safe bolus , 1987 .

[11]  James G Brasseur,et al.  Function of longitudinal vs circular muscle fibers in esophageal peristalsis, deduced with mathematical modeling. , 2007, World journal of gastroenterology.

[12]  R. Clouse,et al.  Characteristics of the propagating pressure wave in the esophagus , 1996, Digestive Diseases and Sciences.

[13]  C. Diiorio,et al.  Swallowing: an assessment guide. , 1990, The American journal of nursing.

[14]  J. Abbink,et al.  Oral physiology and mastication , 2006, Physiology & Behavior.

[15]  J. Brasseur,et al.  Space-time pressure structure of pharyngo-esophageal segment during swallowing. , 2001, American journal of physiology. Gastrointestinal and liver physiology.

[16]  L. Rofes,et al.  Pathophysiology of oropharyngeal dysphagia in the frail elderly , 2010, Neurogastroenterology and motility : the official journal of the European Gastrointestinal Motility Society.

[17]  Takeshi Okuyama,et al.  Artificial-esophagus with peristaltic motion using shape memory alloy , 2010 .

[18]  Rolf Olsson,et al.  Videomanometric aspects of pharyngeal constrictor activity , 2004, Dysphagia.

[19]  Hiroyuki Ishii,et al.  Development of Patient Scenario Generation which can reproduce characteristics of the patient for simulating real-world conditions of task for airway management training system WKA-3 , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  S. Riso,et al.  Thickened beverages for dysphagic patients. Data and myth , 2008 .

[21]  W. dodds.  The physiology of swallowing , 2006, Dysphagia.

[22]  Karin Wendin,et al.  Objective and quantitative definitions of modified food textures based on sensory and rheological methodology , 2010, Food & nutrition research.

[23]  Shaheen Hamdy,et al.  Characterising the central mechanisms of sensory modulation in human swallowing motor cortex , 2004, Clinical Neurophysiology.

[24]  Martin Voracek,et al.  Videofluoroscopy of swallowing abnormalities in 22 symptomatic patients after cardiovascular surgery. , 2003, AJR. American journal of roentgenology.

[25]  Yohan Noh,et al.  Development of Tension/Compression Detection Sensor System designed to acquire quantitative force information while training the airway management task , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[26]  Sten Grillner,et al.  Biological Pattern Generation: The Cellular and Computational Logic of Networks in Motion , 2006, Neuron.

[27]  Chunbao Wang,et al.  Development of a robot which can simulate swallowing of food boluses with various properties for the study of rehabilitation of swallowing disorders , 2011, 2011 IEEE International Conference on Robotics and Automation.

[28]  A. Rademaker,et al.  Temporal and biomechanical characteristics of oropharyngeal swallow in younger and older men. , 2000, Journal of speech, language, and hearing research : JSLHR.

[29]  Tomoyuki Yambe,et al.  Artificial Esophagus With Peristaltic Movement , 2005, ASAIO journal.

[30]  Hiroyuki Ishii,et al.  Development of the airway management training system WKA-1 designed to embed arrays of sensors into a conventional mannequin , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  James Christensen,et al.  Biomechanical characteristics of the human esophagus , 1993, Digestive Diseases and Sciences.

[32]  P. Lucas,et al.  An optimization model for mastication and swallowing in mammals , 1997, Proceedings of the Royal Society of London. Series B: Biological Sciences.

[33]  B. Hanson,et al.  Viscosity and non-Newtonian features of thickened fluids used for dysphagia therapy. , 2010, Journal of food science.

[34]  Reza Shaker,et al.  Effect of aging on bolus kinematics during the pharyngeal phase of swallowing. , 2006, American journal of physiology. Gastrointestinal and liver physiology.

[35]  J. Cichero,et al.  Texture-modified foods and thickened fluids as used for individuals with dysphagia: Australian standardised labels and definitions , 2007 .

[36]  D. Hartl,et al.  Morphologic Parameters of Normal Swallowing Events Using Single-Shot Fast Spin Echo Dynamic MRI , 2003, Dysphagia.

[37]  Hayashi,et al.  [IEEE 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems - Edmonton, Alta., Canada (2005.08.2-2005.08.2)] 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems - Control method of robot suit HAL working as operator\'s muscle using biological and dynamical inf , 2005 .

[38]  Tat Ching Fung,et al.  Finite element simulation of food transport through the esophageal body. , 2007, World journal of gastroenterology.

[39]  Jianshe Chen.  Food oral processing - a review. , 2009 .

[40]  Auke Jan Ijspeert,et al.  Central pattern generators for locomotion control in animals and robots: A review , 2008, Neural Networks.

[41]  Ruth E Martin,et al.  Bolus Location at the Initiation of the Pharyngeal Stage of Swallowing in Healthy Older Adults , 2005, Dysphagia.

[42]  Roberto Oliveira Dantas,et al.  Effect of age on proximal esophageal response to swallowing. , 2010, Arquivos de gastroenterologia.

[43]  Zhiyue Lin,et al.  Weak Peristalsis in Esophageal Pressure Topography: Classification and Association With Dysphagia , 2011, The American Journal of Gastroenterology.

[44]  S. Schaal,et al.  Computational motor control in humans and robots , 2005, Current Opinion in Neurobiology.

[45]  K. Hiiemae,et al.  Volitional control of food transport and bolus formation during feeding , 2007, Physiology & Behavior.

[46]  V. Raut,et al.  Effect of bolus consistency on swallowing – does altering consistency help? , 2001, European Archives of Oto-Rhino-Laryngology.

[47]  J. Brasseur,et al.  Effect of swallowed bolus variables on oral and pharyngeal phases of swallowing. , 1990, The American journal of physiology.

[48]  Weiliang Xu,et al.  Kinematics and Experiments of a Life-Sized Masticatory Robot for Characterizing Food Texture , 2008, IEEE Transactions on Industrial Electronics.

[49]  Hiroyuki Ishii,et al.  Development of the airway management training system WKA-3: Integration of evaluation module to provide assessment of clinical competence and feedback module to reproduce different cases of airway difficulties , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[50]  Rebecca Z. German,et al.  Anatomy and development of oral cavity and pharynx , 2006 .

[51]  Yoshiaki Yamada,et al.  Correspondence between food consistency and suprahyoid muscle activity, tongue pressure, and bolus transit times during the oropharyngeal phase of swallowing. , 2008, Journal of applied physiology.

[52]  J. Robbins,et al.  Comparison of effortful and noneffortful swallows in healthy middle-aged and older adults. , 2001, Archives of physical medicine and rehabilitation.

[53]  W. Sealy,et al.  Surgery of the esophagus , 1961 .

[54]  A. Takanishi,et al.  Reproducing Difficulties of Airway Management on Patients with Restricted Mouth Opening using the WKA-1 , 2007, 2007 6th International Special Topic Conference on Information Technology Applications in Biomedicine.

[55]  Cumhur Ertekin,et al.  Voluntary and Reflex Influences on the Initiation of Swallowing Reflex in Man , 2014, Dysphagia.

[56]  A. Katsumata,et al.  Videofluorographic Evaluation of Mastication and Swallowing of Japanese Udon Noodles and White Rice , 2010, Dysphagia.

[57]  K. Hiiemae,et al.  MECHANISMS OF FOOD REDUCTION, TRANSPORT AND DEGLUTITION: HOW THE TEXTURE OF FOOD AFFECTS FEEDING BEHAVIOR , 2004 .

[58]  Christopher A. Moore,et al.  Bolus Consistency and Swallowing in Children and Adults , 2001, Dysphagia.

[59]  Weiliang Xu,et al.  Design of a Biologically Inspired Parallel Robot for Foods Chewing , 2008, IEEE Transactions on Industrial Electronics.

[60]  M W Chang,et al.  Mathematical modeling of normal pharyngeal bolus transport: a preliminary study. , 1998, Journal of rehabilitation research and development.

[61]  J. Palmer,et al.  Motions of the posterior pharyngeal wall in human swallowing: a quantitative videofluorographic study. , 2000, Archives of physical medicine and rehabilitation.

[62]  A. Jean.  Brain stem control of swallowing: neuronal network and cellular mechanisms. , 2001, Physiological reviews.

[63]  Donald O. Castell,et al.  Pressure profile of esophageal peristalsis in normal humans as measured by direct intraesophageal transducers , 1977, The American Journal of Digestive Diseases.

[64]  G. Lorenzi-Filho,et al.  Pharyngeal dimensions in healthy men and women. , 2007, Clinics.

[65]  Weiwei Huang,et al.  Bio-Inspired Locomotion Control with Coordination between Neural oscillators , 2009, Int. J. Humanoid Robotics.

[66]  Weiliang Xu,et al.  Generation of rhythmic and voluntary patterns of mastication using Matsuoka oscillator for a humanoid chewing robot , 2009 .

[67]  Dieter C. Broering,et al.  Surgical Anatomy of the Esophagus , 2009 .

[68]  Martin W. Donner,et al.  Anatomy and physiology of the pharynx , 2005, Gastrointestinal Radiology.

[69]  P. Lillford,et al.  THE PERCEPTION OF FOOD TEXTURE ‐ THE PHILOSOPHY OF THE BREAKDOWN PATH , 1988 .

[70]  Y Ikada,et al.  Experimental studies of a hybrid artificial esophagus combined with autologous mucosal cells. , 1990, ASAIO transactions.

[71]  Ho Jun Lee,et al.  Movement of the hyoid bone and the epiglottis during swallowing in patients with dysphagia from different etiologies. , 2008, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[72]  Martin W. Donner,et al.  Anatomical and Physiological Overview , 1991 .

[73]  Rolf Olsson,et al.  Relation of bolus size and pharyngeal swallow , 2006, Dysphagia.

[74]  Harry Gruppen,et al.  New device to simulate swallowing and in vivo aroma release in the throat from liquid and semiliquid food systems. , 2004, Journal of agricultural and food chemistry.

[75]  A Mishellany,et al.  The regulation of masticatory function and food bolus formation. , 2006, Journal of oral rehabilitation.

[76]  Jianshe Chen,et al.  The determining role of bolus rheology in triggering a swallowing , 2011 .

[77]  A. van der Bilt,et al.  The influence of product and oral characteristics on swallowing. , 2005, Archives of oral biology.

[78]  A. Rademaker,et al.  Oropharyngeal swallow in younger and older women: videofluoroscopic analysis. , 2002, Journal of speech, language, and hearing research : JSLHR.

[79]  W J Hogan,et al.  Effect of aging and bolus variables on pharyngeal and upper esophageal sphincter motor function. , 1993, The American journal of physiology.

[80]  Malcolm C. Bourne.  Calibration of rheological techniques used for foods , 1992 .

[81]  R. Goyal,et al.  Physiology of Normal Esophageal Motility , 2008, Journal of clinical gastroenterology.

[82]  Arthur J Miller,et al.  The neurobiology of swallowing and dysphagia. , 2008, Developmental disabilities research reviews.

[83]  M. Settles,et al.  Observation of the swallowing process by application of videofluoroscopy and real-time magnetic resonance imaging-consequences for retronasal aroma stimulation. , 2001, Chemical senses.

[84]  S. Doeltgen,et al.  Effects of Bolus Volume on Pharyngeal Contact Pressure During Normal Swallowing , 2008, Dysphagia.

[85]  A. Woda,et al.  Particle size distribution in the food bolus after mastication of natural foods , 2007 .

[86]  Hiroshi Kobayashi,et al.  1P2-N-123 Development of Swallow Robot for Research of the Mechanism for the Human Swallow(Medical and Welfare Robotics and Mechatronics 2,Mega-Integration in Robotics and Mechatronics to Assist Our Daily Lives) , 2005 .

[87]  Satoru Ebihara,et al.  Cough in the elderly: a novel strategy for preventing aspiration pneumonia. , 2011, Pulmonary pharmacology & therapeutics.

[88]  Koichiro Matsuo,et al.  Coordination of Mastication, Swallowing and Breathing. , 2009, The Japanese dental science review.