| abstract |
The present invention relates to the driving of the forward, backward, etc. in the capsule endoscope robot, the configuration is simple as the body moves in a straight, backward, etc. according to the direction of rotation when rotating by forming a spiral protrusion or spiral fiber on the outside However, by realizing the operation with reliable and stable operation of driving straight and backward according to the driving, the capsule endoscope can be operated precisely in the human body to obtain the necessary data for more accurate diagnosis, removing small polyps or samples of large polyps. Accurate positioning is easy and the best advantage when removing is a very useful capsule endoscope robot drive that can be retracted to facilitate re-access to the missed target. |