1. Mo Sho
kh. lihul Ha i
d
Iw i La o to
a b ra ry
De t. o Ele tro sa Ap lie P ic
p f c nic nd p d hys s
Inte is ip ry Gra ua Sc o o Sc nc a Eng e
rd c lina d te ho l f ie e nd ine ring
To kyoInstituteo Te hno g
f c lo y

2. Brief Introduction
The design of a swallowable (11mm diameter by 25mm long), 12-
legged endoscopic capsule for locomotion in the lower gastro
intestinal tract (large bowel), which is expected to be useful for both
distending deflated colon tissue and also for navigating the sharp
corners of the splenic flexure found in the colon.

3. DESIGN OVERVIEW
Sid a levie o the12 g e c p ule
e ng w f -le g d a s . Front view of the capsule showing a 32 mm
diameter circle

4. Sid vie o thec p ules w m to g a , le ds re , le ho e
e w f as ho ing o r, e rs a c w g ld r,
le a p . Thea w s wthed c n o tra la n o the
g nd ins rro s ho ire tio f ns tio f
nut a thero tio l m ve e im a to thele -ho e
nd ta na o m nt p rts g ld r.

5. KINEMATIC ANALYSIS
The values AD, OD, OC and ξi
are related by the law of cosines:
Sid vie o thes t-fo w r m c nis
e w f lo llo e e ha m
s w a itsd s n p ra e rs
ho ing ll e ig a m te

6. a In thec s dp s n (d rk line thele isc m le ly ins ethe
) lo e o itio a ) g o p te id
b d (ind a db theb d b rd r line
oy ic te y oy o e ).
b In thisc s in the“lo e ” o itio thele re a o id the
) ae c sd p s n g m ins uts e
bd
o y.

7. re c n fo ea thenut:
a tio rc t
Thes m tio o the e
um a n f s
6re c n fo e o thenut:
a tio rc s n
Theto uew h m t
rq hic us
b a p dto thele d s re to
e p lie a c w
o rc m W:
ve o e
A Fre b d d g mo them c nis
e o y ia ra f e ha m
s w fo e a to ue .
ho ing rc s nd rq s

8. Considering the schematic shown in
MAXIMUM LEG LEVER ARMS
This Figure , we can Write:
where,
Differentiating the above equation
the maximum value of the
distance between the leg tip and
the horizontal axis:
Line schematic of slot-follower mechanism
used for calculating the position where the
the corresponding position of the leg tip reaches maximum distance from the
nut along the longitudinal axis: capsule wall.

9. Software Simulation
The Matlab plot showing the permissible AD and ODi
combinations, providing a design tool for both leg opening angles and leg
placement positions on the outside of the capsule body