An Automated Intestinal Biomechanics Simulator for Expediting Robotic Capsule Endoscope Development¹

Robotic capsule endoscopes (RCEs) are pill shaped devices used for noninvasive imaging, chemical sensing, performing simple surgical procedures, and active locomotion through the bowel lumen [1]. Currently, there is no accurate in vitro method for testing RCEs during development, and thus, they are prematurely tested in vivo at a cost of about $1400 per swine test [2]. The purpose of this research was to develop an in vitro method of testing RCEs without the need for repetitive animal experimentation. We have developed a device that simulates the biomechanical behavior and environment of the small intestine to expedite the development of RCEs. This device (Fig. 1 ) supports two independently controlled compressive pressure vessels that...