Prototype modular capsule robots for capsule endoscopies

摘要

Capsule endoscopy allows clinicians to wirelessly examine the small intestine using a capsule equipped with a miniscule camera. However, it has intrinsic limitations such as a lack of controlled capsule locomotion and limited therapeutic functions inside the gastrointestinal (GI) track. Recently, several researches have been conducted to prototype robotic capsules that have a self-propelling mechanism by integrating modern technologies. To routinely use in a clinical setting, several technical challenges, including size constraint of the capsule, locomotion mechanism, and stable power source, should be addressed. In this paper, we introduce a prototype of a modular robotic capsule system, which is designed to distribute the functional burdens among multiple robotic capsule modules. For example, active locomotion can be achieved via a collaborative actuation among multiple modules after self-assembly. This novel design was also supplemented with inductive power transmission techniques to wirelessly power the modules. The presented modular, miniature robotic platform may provide a new paradigm for developing multi-function capsule endoscope, with future implications in minimally invasive surgery.