Controllable microcapsule type robot endoscope

摘要

A capsule type endoscope has limbs 8 that can control the motion of the endoscope whilst passing through a body. The arms 8 are actuated to project outside the body of the capsule and vibration causes it to move forwards and further arms 9 operate in the reverse direction to cause the capsule to move backwards. Alternatively the capsule may be stopped. The capsule contains cameras, lights, transmitting and receiving circuitry for communicating with a control system, and may contain equipment to inject medicines.