Self-contained capsubot propulsion mechanism

In this paper a self contained capsubot (capsule robot) propulsion system is presented. The proposed capsubot works on the principle of internal force and static friction. A modified linear DC motor is used to develop the capsubot. A novel acceleration profile is proposed for the moving part (linear cylinder) based on the principle. The significant feature of the proposed capsubot is that it is legless and wheelless, trackless. The developed capsubot which demonstrates very good average velocity is a potential prototype to be used for the propulsion of wireless controlled self-propelling capsule endoscopy. Simulation and experimental results demonstrates the robustness of the acceleration profile.