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It comprises a novel locomotion unit, a camera, and a three-dimensional receiving coil, all installed at both ends of the locomotion unit. The novel locomotion unit comprises a linear motion mechanism and a sliding clamper. The former adopts a pair of lead-screw and nut to obtain linear motion, whereas the latter anchors the MCRSC to a specific point of the intestinal tract by expanding its arc-shaped legs. The MCRSC is capable of two-way locomotion, which is activated by alternately executing linear motion and anchoring action.<jats:italic>Ex vivo<\/jats:italic>experiments have shown that the MCRSC is able to inspect the colon within a time frame of standard colonoscopy.<\/jats:p>","DOI":"10.1017\/s0263574715000697","type":"journal-article","created":{"date-parts":[[2015,8,17]],"date-time":"2015-08-17T08:00:46Z","timestamp":1439798446000},"page":"521-536","source":"Crossref","is-referenced-by-count":21,"title":["Design, analysis, and testing of a motor-driven capsule robot based on a sliding clamper"],"prefix":"10.1017","volume":"35","author":[{"given":"Jinyang","family":"Gao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guozheng","family":"Yan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Su","family":"He","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fei","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhiwu","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,8,17]]},"reference":[{"key":"S0263574715000697_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2208121"},{"key":"S0263574715000697_ref1","doi-asserted-by":"publisher","DOI":"10.1038\/35013140"},{"key":"S0263574715000697_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.gie.2008.04.034"},{"key":"S0263574715000697_ref20","doi-asserted-by":"publisher","DOI":"10.1088\/0967-3334\/34\/11\/1545"},{"key":"S0263574715000697_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2198061"},{"key":"S0263574715000697_ref32","volume-title":"Precision Machine Design","author":"Xu","year":"2005"},{"key":"S0263574715000697_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2041244"},{"key":"S0263574715000697_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/RBME.2011.2171182"},{"key":"S0263574715000697_ref7","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1109\/TBME.2013.2283369","article-title":"Biopsy using a magnetic capsule endoscope carrying, releasing and retrieving untethered micro-grippers","volume":"61","author":"Yim","year":"2014","journal-title":"IEEE Trans. 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