Since the first capsule endoscope was developed in the mid-1990s [1], various microrobotic capsules (MRCs) have been developed or are in development. Many groups are investigating MRCs that are capable of measuring in vivo parameters, delivering drugs, sampling tissue, and performing in vivo surgery. Noninvasive measurement of the small intestine pressure signal could provide important information for the diagnosing and monitoring of digestive tract diseases.

Implantable wireless biosensors are key nodes in the wireless body area network for health monitoring and evaluation. MRCs could also be used to implant biosensors to targeted positions in the the gastrointestinal (GI) tract. In our previous work, a capsule with a special attachment mechanism was developed to attach sensors to the small intestine lumen [2]. A main objective for this research is to determine the intimate contact between the capsule and the small intestine lumen. The intimate contact could be...

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