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Design of a Pill-Sized 12-legged Endoscopic Capsule Robot

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4 Author(s)
Quirini, M. ; CREV1 Lab., Scuola Superiore Sant''Anna, Pisa ; Webster, R.J. ; Menciassi, A. ; Dario, P.

In this paper we present the design of a swallowable (11mm diameter by 25mm long), 12-legged endoscopic capsule for locomotion in the lower gastro intestinal tract (large bowel). A novel slot-follower mechanism driven via lead-screw allows the capsule to be as small as current commercial pill-cameras, while simultaneously generating 2/3 N of force at each leg tip. Kinematic and static analyses of the lead screw and slot-follower mechanisms allow optimization of design parameters so that the capsule satisfies experimental and clinical design requirements for legged locomotion in the GI tract.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007