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

This paper reports the 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 in diameter. Based on nonsmooth multibody dynamics, a mathematical model is developed for studying the dynamical characteristics of the prototype.