A Wireless Module for Vibratory Motor Control and Inertial Sensing in Capsule Endoscopy

The development of active locomotion schemes for endoscopic capsules - as opposed to passive traversal of the gastrointestinal tract by natural peristalsis - is expected to significantly enhance the diagnostic, and foreseeably, the therapeutic scope of these devices. The use of external magnetic fields is currently regarded as the most promising approach for the active guidance of endoscopic capsules. In addition to this, the potential of using vibrations to reduce the friction between the capsule and the gastrointestinal tissue is currently under investigation. Towards this end, a prototype has been developed, which integrates on-board a vibrating motor and a triaxial accelerometer, along with an electronics module, that allows remote control of the motor and wireless transmission of the inertial data to a host PC. Ex-vivo tests confirm both the efficacy of vibrations for reducing friction, and the sufficiency of the inertial sensing scheme in capturing the characteristics of the capsule's vibrations.