| 摘要 |
PURPOSE: A propulsion device of a capsule endoscope robot is provided to reliably perform a desired work such as photo photographing, tissue sampling, and medicine treatment. CONSTITUTION: An internal space part(16) is empty in the central part of a body unit. Each component is stored in the internal space part. Guide grooves are formed between the inner side of a body and the outer side of the body. The guide grooves are between four and ten. Empty spaces are formed between the guide grooves so that the shape of the body unit is maintained.
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