Development of self-propelled capsule endoscope provided with liner motor promotion and stay evasion mechanics

For the purpose of a practical development of self-propelled capsule endoscope provided with stay evasion mechanics, liner motor promotion mechanics stemming from sliding and knocking drive methods has been proposed, and stay evasion mechanics by combining the direction of driving force applied to capsule periphery has also been designed and applied to a capsule. Prototype capsules have been developed and examined in a simulated bowel to confirm the utility of the capsule transport and the characteristic maneuverability of stay evasion mechanics. Experimental results confirmed that stable transport and attitude control of capsule can be reasonably achieved by optimizing control parameters. A capsule system using driving and working capsules has also been demonstrated for the practical usage of the proposed capsule concept.