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This paper studies the intestinal frictions acting on a millimetre-scale self-propelled capsule (26 mm in length and 11 mm in diameter) for small bowel endoscopy by considering different capsule–intestine contact conditions under a wide range of capsule’s progression speeds. According to the experimental results, intestinal frictions vary from 7 mN to 4.5 N providing us with a guidance for designing the propelling mechanism of the controllable capsule endoscope. Our calculations show that the proposed vibro-impact mechanism can perform as a force magnifier generating a much larger propulsive force on the capsule than its original driving force. Therefore, the self-propelled capsule is capable of moving in the small intestine under a wide range of friction variation.

Experimental and numerical studies of intestinal frictions for propulsive force optimisation of a vibro-impact capsule system