Active Propulsion of Capsule Robot Through Internal Water Jet System

Gastrointestinal diseases are highly prevalent and pose a significant threat to human health, making early screening and diagnosis crucial. Wireless capsule endoscopy, as a safe and painless diagnostic method, has been widely utilized for the early detection of GI diseases. However, conventional capsule robots often suffer from limited maneuverability and inefficient propulsion systems. To address these limitations, this study proposes a novel capsule robot incorporating an internal water jet system. Inspired by industrial centrifugal pumps, this design redirects motor-generated water flow from the axial to the radial direction, optimizing internal space utilization while enhancing propulsion efficiency and providing an additional degree of freedom for movement. This paper analyzes the thrust performance of the internal water jet system, and locomotion experiments were conducted to verify the robot's mobility in liquid environments. Experimental results demonstrate that the system achieves stable and precise motion. The internal water jet propulsion mechanism offers a promising solution for advancing capsule endoscopy robots in clinical applications.