Anchoring Mechanism for Capsule Endoscope
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  • Release Date: 2023-02-21
  • anchoring mechanism
  • robotic capsule
  • capsule endoscope
  • shape memory alloy spring actuator
  • robotic pill
Video Introduction

This video is adapted from 10.3390/mi13122045

Capsule endoscopes are widely used to diagnose gut-related problems, but they are passive in nature and cannot actively move inside the gut. The design process and development of an anchoring mechanism and actuation system to hold a capsule in place within the small intestine. The design centres around the mechanical structure of the anchor that makes use of compliant Sarrus linkage legs, which extend to make contact with the intestine, holding the capsule in place. Three variants with 2 legs, 3 legs and 4 legs of the anchoring mechanism were tested using a shape memory alloy spring actuator (5 mm × ϕ 3.4 mm). The experiments determine that all the variants can anchor at the target site and resist peristaltic forces of 346 mN. The proposed design is well suited for an intestine with a diameter of 19 mm.

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Rehan, M.; Yeo, A.G.; Yousuf, M.U.; Avci, E. Anchoring Mechanism for Capsule Endoscope. Encyclopedia. Available online: (accessed on 14 April 2024).
Rehan M, Yeo AG, Yousuf MU, Avci E. Anchoring Mechanism for Capsule Endoscope. Encyclopedia. Available at: Accessed April 14, 2024.
Rehan, Muhammad, Andrew G. Yeo, Muhammad Uzair Yousuf, Ebubekir Avci. "Anchoring Mechanism for Capsule Endoscope" Encyclopedia, (accessed April 14, 2024).
Rehan, M., Yeo, A.G., Yousuf, M.U., & Avci, E. (2023, February 21). Anchoring Mechanism for Capsule Endoscope. In Encyclopedia.
Rehan, Muhammad, et al. "Anchoring Mechanism for Capsule Endoscope." Encyclopedia. Web. 21 February, 2023.