Robotic maneuvering of capsule endoscopy: Preliminary tests in an experimental colonic model

Introduction: The digestive tract can be visualized in a controlled and non-invasive way by using magnetic maneuvering of capsule endoscopy. One of the major limitations of this maneuvering is the reduced spatial-temporal accuracy of the external controller supervised by human. The aim of this present study was to build an environment model of a robotic framework for maneuvering the capsule and perform preliminary experimental tests on it. Methods: We prepared a simplified plastic model of a colon. The model was filled with water and the capsule was placed inside. Our phantom is 2 – 2.5 m long, and was placed in…