Motion control research of internal force-static friction capsubot in intestine

Capsule endoscopy plays a more and more important role in the diagnosis of diseases in gastro-intestinal (GI) tract. However, autonomic movement ability of the capsule endoscopy is needed in clinic urgently because of the defects of the passive capsule endoscope. We design a novel active capsule endoscopy (capsubot) called the “internal force-static friction” capsubot that moves in way of impact. A physical simulation measurement system is fabricated to measure the friction when the capsubot moves in the intestine. According to the simulation results that based on the parameters we get from the experiment, we optimize the structure of the driver and control method. Then the capsubot can get the best motion effect in the intestine in vitro.