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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