Capsule-odometer: A concept to improve accurate lesion localisation

Figure 2 In vitro experiment. A: Wheels inserted in three-dimensional printed, L-shaped miniature tubes. Tubes along with the wheels attached to a spring; B: stainless steel torsion spring with 90° deflection and 0.093 inch pounds torque from Associated Spring Raymond allows extension/retraction of the wheels; C: Three-dimensional printed ring (11.5 mm in diameter made of UV Curable Acrylic Plastic on a demo PillCam^® SB2); D: Inserted into one end of a translucent tube and pulled through by a silk string.