Abstract

This work concerns small intestine capsule endoscopy by employing the so-called vibro-impact capsule technique, which utilizes internal vibration and impact forces for bidirectional rectilinear self-propelled driving. Mathematical modelling of the vibro-impact capsule will be considered in the environment of a small intestinal tract, and a complete analysis of the capsule's performance in terms of its progression speed and energy efficiency will be carried out.