A new endoscopic microcapsule robot using beetle inspired microfibrillar adhesives

Investigation of adhesion forces at the peritoneal surface

“…The surface of the peritoneum is made up of a continuous single layer of flattened cells, upon which is a carpet of tiny projections known as microvilli. These projections are of similar dimensions and spacing (Gaudio et al [11]) to previous biomimetic adhesive surfaces based on the adhesive surfaces geckos (Geim et al [12]) and beetles (Cheung et al [13]). Microvilli are typically around 2µm in length, and 100-150nm in diameter, with variable spacing of between 1 and 3 per micron.…”

Design, fabrication and control of a magnetic capsule-robot for the human esophagus

“…The amount of current drawn from the power supply is sent to the amplifier which was built in the Faculty of Science at the University of The laser calibration is achieved using the adjustable laser stand shown in Figure 36. The global term of z (mm) in term of laser voltage is obtained as (20 ) 188 …”

Robotic applications in abdominal surgery: their limitations and future developments

“…A stopping and locomotion system for the capsule is also being developed at Carnegie Mellon University, using microfibrillar adhesive pads which mimic the mode of adhesion of beetles (20). Again, this mechanism is reliant on pushing out against the walls of the intestine, and may not be feasible in varying diameters of bowel (the largest diameter in which the prototype was tested was 1.25 inches, or 3.2 cm) or in situations where the bowel wall is very thin (the mechanism was tested against rigid walls).…”