Self-propelled capsule endoscopy for small-bowel examination: proof-of-concept and model verification

Abstract

This paper reports an experimental study of a vibro-impact self-propulsion technique applying for small-bowel endoscopy by using a mesoscale capsule prototype, which is 56.9 mm in length and 19.4 mm indiameter. Based on nonsmooth multibody dynamics, a mathematical model is developed for studying the dynamical characteristics of the prototype. Numerical and experimental results are compared to validate the efficacy of the proposed model as well as the feasibility of the technique under various frictional environment. By using the model, we can reveal some hidden dynamics of the prototype and optimise its progression speed and energy efficiency. Based on our calculations, by adopting this technique, the standard-sized capsule, which is 26 mm in length and 11 mm in diameter, can achieve the maximum average speeds of 8.49 mm/s for forward progression and 4.9 mm/s for backward progression, offering the potential for a ‘live’ and controllable small-bowel examination