Fig. 13
From: Overview of technical solutions and assessment of clinical usefulness of capsule endoscopy
Block diagram of a components of the robot constructed of five capsules, b the robot assembled inside the human body. The robot includes a “capsule mother” allowing for reconfiguration and connection of individual parts of the robot inside the human body. The patient swallows not one but a few capsules (parts of the robot), which are then combined and allow for various tasks in the human body (monitoring, biopsy, movement and others)