CAPSULE DEVICE HAVING IMPROVED SELF-RIGHTING ABILITY

A capsule device suitable for insertion into a lumen of a patient, the lumen having a lumen wall, wherein the capsule device (100, 200, 300, 400, 500) comprises a) a capsule housing (110, 120, 210, 220) having an outside shape formed as a rounded object and defining an exterior surface, and b) a tissue interfacing component (130, 230) disposed relative to the capsule housing (110, 120, 210, 220), the tissue interfacing component (130, 230) configured to interact with the lumen wall at a target location, wherein the capsule device is configured as a self-righting capsule having a geometric center and a center of mass offset from the geometric center along a first axis, wherein when the capsule device (100, 200, 300, 400, 500) is supported by the tissue of the lumen wall while being oriented so that the centre of mass is offset laterally from the geometric center the capsule device experiences an externally applied torque due to gravity acting to orient the capsule device with the first axis oriented along the direction of gravity to enable the tissue interfacing component (130, 230) to interact with the lumen wall at the target location, wherein at least a portion of the exterior surface of the capsule device (100, 200, 300, 400, 500) has a surface property exhibiting one or more surface properties selected from the group consisting of a surface coating, a surface roughness, a surface geometry, and a surface micro-geometry, and wherein said surface property is selected to provide low friction, such as low static friction, ensuring slipping movement of the capsule device relative to the tissue of the lumen wall when said externally applied torque due to gravity acts on the capsule device.