Biomimetic Tactile Sensing Capsule

Here we present a tactile sensing capsule endoscopy system. Whilst current capsule endoscopy utilises cameras to diagnose lesions on the surface of the gastrointestinal tract lumen, this proposal uses remote palpation to stimulate a bio-inspired tactile sensing surface that deforms under the impression of hard raised objects. This provides the capability to characterise tissue density and lesions more deeply than the lumen surface.