Design of a self-propelled mechanism to be mounted on a capsule endoscope that made it possible to observe the stomach

Abstract

　Endoscopic examination is a method examination of the digestive tract, and a scope endoscope is mainly used. However, since the scope endoscope continuously stimulates the pharynx when inserting camera, it gives pain to the patient. In order to remedy this drawback, a capsule endoscope has been developed. Since the capsule endoscope only corresponds to the small intestine and the large intestine, a scope endoscope is used for the examination of the stomach. Therefore, examination of the stomach gives a pain to the patient. In this study, we design of a self-propelled mechanism to be mounted on a capsule endoscope that made it possible to observe the stomach. In this paper, we propose and design and evaluate the self-propelled mechanism that enables the observation of the stomach. And we also construct a motion analysis system that uses motion simulation.