ArticleMicromachines2026
A Compliant SMA-Actuated Capsule Robot with Integrated Locomotion and Steering for Wireless Capsule Endoscopy.
Article in Micromachines, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
0 citing papers in PubMed.
No citing paper in PubMed yet.
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
6 authors.
Funding
Abstract
Wireless Capsule Endoscopy (WCE) is a minimally invasive technology for imaging the gastrointestinal (GI) tract, particularly the small intestine, where conventional endoscopy faces accessibility limitations. Traditional capsule endoscopes rely on passive motion driven by natural peristalsis, which limits controllability and may increase the risk of capsule retention. To address these challenges, this study presents the design and experimental validation of a compliant active capsule endoscope actuated by four Shape Memory Alloy (SMA) spring actuators. A key feature of the proposed system is a steering mechanism that reuses the same SMA actuators responsible for locomotion, enabling control of the camera orientation without increasing system complexity, size, or weight. The capsule architecture consists of rigid polylactic acid (PLA) links connected through thermoplastic polyurethane (TPU) flexure hinges, fabricated using dual-material 3D printing. Nonlinear finite element analysis (FEA) was employed to optimize the flexure hinge geometry for maximum displacement while maintaining safe stress levels. To validate the concept, a 3.5× scaled prototype was fabricated and integrated with SMA actuators and an Arduino-based control system. The experimental results demonstrate effective locomotion and steering capabilities, achieving a maximum stroke of approximately 5.4 mm and a steering angle of 24° for the 3.5× scaled prototype, corresponding to an estimated stroke of approximately 1.98 mm (Based on the FEA) at the intended clinical scale. Thermal characterization of the SMA actuators was also conducted to identify suitable operating current ranges for future biomedical deployment. The results demonstrate the feasibility of integrating locomotion and steering within a compact compliant capsule architecture, representing a step toward next-generation capsule endoscopy systems with improved navigation and diagnostic capability.
Indexed as
Identifiers
What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.