Capsule endoscopy of the future: What’s on the horizon?

Table 1 Select mechanically actuated endoscopic capsules

Ref.	Year	Actuation mode	Highest testing level	Speed(cm/min)
Standard colonoscopy[28]	-	-	-	7
Menciassi et al[13]	2004	Legged	Ex vivo	NA
Kim et al[14]	2004	Inchworm	Ex vivo	1.47
Kim et al[26]	2005	Inchworm	Ex vivo	13.4
Wang et al[22]	2006	Inchworm	In vitro	NA
Quirini et al[8]	2008	Legged	Ex vivo	3
Quirini et al[16]	2008	Legged	Ex vivo	6
Valdastri et al[10]	2009	Legged	Ex vivo	5
Tortora et al[11]	2009	Swimming	In vivo	90
Kim et al[17]	2010	Paddling-based	In vivo	17
Woo et al[18,19]	2010	Electrical stimulus	In vitro	17.46
Morita et al[32]	2010	Swimming	In vivo	300
Sliker et al[20]	2012	Treads	In vivo	18
Lin et al[23]	2012	Inchworm	Ex vivo	30
Chen et al[24]	2013	Inchworm	In vitro	NA
Chen et al[25]	2014	Inchworm	Ex vivo	2.3

NA: Not available.