Fig. 11
From: Overview of technical solutions and assessment of clinical usefulness of capsule endoscopy
Block diagram of the self-propelled capsule fitted with two sets of legs driven with two separate gear motors. The two motors which work independently drive threaded rods by means of the gears. These in turn allow for the movement of two sections of legs along the capsule. Depending on the number of legs, various parameters are obtained, which are associated with the arrangement of the intestine around the capsule and, therefore, its invasiveness and the possibility of the intestine perforation