Self-propelled capsule endoscopy for small-bowel examination: Proof-of-concept and model verification

•The paper studies the vibro-impact self-propulsion technique for capsule endoscopy.•A mesoscale prototype was developed for proof-of-concept and model verification.•The prototype was mathematically modelled as a nonsmooth dynamical system.•It was tested in various contact surfaces by using a synthetic small intestine.•Numerical and experimental results were compared to validate the technique. [Display omitted] This paper reports the experimental study of a vibro-impact self-propulsion technique applying for small-bowel endoscopy by using a mesoscale capsule prototype, which is 56.9 mm in length and 19.4 mm in diameter. Based on nonsmooth multibody dynamics, a mathematical model is developed for studying the dynamical characteristics of the prototype. Numerical and experimental results are compared to validate the efficacy of the proposed model as well as the feasibility of the technique under various frictional environments. By using the model, we can reveal some hidden dynamics of the prototype and optimise its progression speed and energy efficiency. Based on our calculations, by adopting this technique, the standard-sized capsule, which is 26 mm in length and 11 mm in diameter, can achieve the maximum average speeds of 8.49 mm/s for forward progression and 4.9 mm/s for backward progression, offering the potential for a ‘live’ and controllable small-bowel examination.