Research Article
Engineering Micromechanical Systems for the Next Generation Wireless Capsule Endoscopy
Table 4
Microrobot performance specification.
| | System feature | Requirement | Specification |
| | Geometry | Microrobot volume | Maximum 3.0 cm3 | | Maximum diameter | 11.0 mm | | Maximum length | 32.0 mm | | Maximum weight | 5.0 g |
| | Holding | Attaining equilibrium | Expansion | | Expand to a circumference | >53.0 mm | Resist peristaltic contractions of
| >26.9 g/cm circumferential | | >17.2 g/cm linear | | Actuator | Micromotor | | Deployment time | Maximum 2.5 s | | Holding time | Minimum 5 s |
| | Targeting | Tracking:
| RF | | Timed transit | | Telemetry | Bidirectional | | Actuator | Micromotor | | Return to site of interest | ±5.0 mm |
| | Delivery | Delivering therapy | Liquid medication | | Delivery method | Needle | | Drug reservoir | 1 mL | | Wall penetration | 1.0 mm to 2.0 mm | | Needle penetration force | 8.9 MPa | | Target location | ±30 deg | | Actuator | SMA | | Response time | Maximum 5 s |
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