Design and Experimental Investigation of a Vibro-Impact Capsule Robot for Colonoscopy

Uptake of capsule endoscopy in the large intestine has been very limited due to both risk missed lesions and often prolonged transit time, making it an unviable alternative standard colonoscopy. In this letter, we presented a controllable easy-to-use diagnostic tool, equipping novel vibration module inside robot for The capsule's motion was controlled by applying external alternating electromagnetic field inner magnet generate vibrations impacts on main body capsule. To optimise its motion, provided numerical solution calculating force used guide hand-held control panel navigating robot. firstly examined simulator modelled based colon-rectal morphometrics, then tested ex vivo environment using porcine intestines. We verified performance travelling through entire with maximum speeds 54 mm/s 40 environment, respectively. It found that altering frequency can help pass various particular sharp turnings at segment junctions.