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. Author manuscript; available in PMC: 2013 Nov 14.
Published in final edited form as: Biomed Microdevices. 2012 Feb;14(1):10.1007/s10544-011-9594-7. doi: 10.1007/s10544-011-9594-7

Fig. 1.

Fig. 1

Illustration of an endoscopic capsule (size of φ12×32 mm spheroid) equipped with the magnetic propulsive system. The propulsive unit is made of 3 double coil magnetic swimming tails (1). The capsule payload is a micro-camera (5) and a tool for biopsy (4). The power source is made of 5 non-magnetic batteries (2). There is also electronics for command and control and communication (7), housing (8) and an antenna (3) for the RF transceiver. The housing is cut away to make the content of the capsule visible