Capsule-odometer: A concept to improve accurate lesion localisation

Figure 1 Capsule odometer,conceptual design and its three-dimensional printing realisation. A: Conceptual design[10] of a capsule endoscope (herein called ODOcaps) with protruding wheels attached to a spring-mechanism; B: Three-dimensional printing technology used to build a capsule prototype; C: Wheels were initially produced with UV Curable Acrylic Plastic; D: Wheels later made of a synthetic resilient, textile-like material (TPU 92A-1).

Figure 2 In vitro experiment. A: Wheels inserted in three-dimensional printed, L-shaped miniature tubes. Tubes along with the wheels attached to a spring; B: stainless steel torsion spring with 90° deflection and 0.093 inch pounds torque from Associated Spring Raymond allows extension/retraction of the wheels; C: Three-dimensional printed ring (11.5 mm in diameter made of UV Curable Acrylic Plastic on a demo PillCam^® SB2); D: Inserted into one end of a translucent tube and pulled through by a silk string.

Figure 3 In vivo experiment. A and B: Glass tank (50 cm × 20 cm × 20 cm) with fix points for the intestine (metal tubes) and entry points for the capsule device, C: Standard simulated intestinal environment created by mounting 32 cm long, freshly harvested porcine small-intestine to both ends of a fluid-filled tank (arrow); D: Capsule device (assembled ring with wheels on spring on a MiroCam^®) was inserted into the suspended bowel via one of the metal tubes.