Figure 2.

Schema of the ScanCap system and photographs of prototype. (A) Photograph (top) and schematic (bottom) of prototype ScanCap capsule, including tether, optical fibers that deliver blue and green light from the illumination module, 3D-printed sensor cap that holds Raspberry PiCam and lens, acrylic wall, mirror, micromotor, and 3D-printed motor cap. (B) Photograph of ScanCap capsule and control system modules, including the illumination and control modules. (C) Schematic diagram of illumination module.