Capsule-odometer: A concept to improve accurate lesion localisation

Figure 1 Capsule odometer,conceptual design and its three-dimensional printing realisation. A: Conceptual design[10] of a capsule endoscope (herein called ODOcaps) with protruding wheels attached to a spring-mechanism; B: Three-dimensional printing technology used to build a capsule prototype; C: Wheels were initially produced with UV Curable Acrylic Plastic; D: Wheels later made of a synthetic resilient, textile-like material (TPU 92A-1).