Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope

@article{Yim2012DesignAR,
  title={Design and Rolling Locomotion of a Magnetically Actuated Soft Capsule Endoscope},
  author={Sehyuk Yim and Metin Sitti},
  journal={IEEE Transactions on Robotics},
  year={2012},
  volume={28},
  pages={183-194}
}
This paper proposes a magnetically actuated soft capsule endoscope (MASCE) as a tetherless miniature mobile robot platform for diagnostic and therapeutic medical applications inside the stomach. Two embedded internal permanent magnets and a large external magnet are used to actuate the robot remotely. The proposed MASCE has three novel features. First, its outside body is made of soft elastomer-based compliant structures. Such compliant structures can deform passively during the robot-tissue… CONTINUE READING

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