Investigation for movement of spiral-type capsule endoscope in the porcine large intestine

This work fabricates four spiral-type capsules with magnet rings. A small magnetic driving equipment, including a stepper motor, a power supplier, a motor controller, a motor driver, and two bar magnets, was developed. The bar magnets were attached oppositely on the axis of motor, and the rotational speed of motor can be adjusted conveniently. The rotational magnetic fields can be generated when the motor was rotating. The spiral-type capsule moved forward at the interaction of external rotational magnetic fields. The moving speed of capsule in the porcine large intestine was investigated, and the experimental results show that the moving speed of capsule can be over 1 cm/s, which suggested that the driving system is promising in the future diagnosis.