{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T04:56:16Z","timestamp":1787028976083,"version":"build-2736575974"},"reference-count":25,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2022,11,22]],"date-time":"2022-11-22T00:00:00Z","timestamp":1669075200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Palmerston North Medical Research Foundation","award":["General grant 2021\u20132022"],"award-info":[{"award-number":["General grant 2021\u20132022"]}]},{"name":"Palmerston North Medical Research Foundation","award":["Grand Ideas competition 2022"],"award-info":[{"award-number":["Grand Ideas competition 2022"]}]},{"name":"Massey ecentre, New Zealand","award":["General grant 2021\u20132022"],"award-info":[{"award-number":["General grant 2021\u20132022"]}]},{"name":"Massey ecentre, New Zealand","award":["Grand Ideas competition 2022"],"award-info":[{"award-number":["Grand Ideas competition 2022"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Micromachines"],"abstract":"<jats:p>Capsule endoscopes are widely used to diagnose gut-related problems, but they are passive in nature and cannot actively move inside the gut. This paper details the design process and development of an anchoring mechanism and actuation system to hold a capsule in place within the small intestine. The design centres around the mechanical structure of the anchor that makes use of compliant Sarrus linkage legs, which extend to make contact with the intestine, holding the capsule in place. Three variants with 2 legs, 3 legs and 4 legs of the anchoring mechanism were tested using a shape memory alloy spring actuator (5 mm \u00d7 \u03d5 3.4 mm). The experiments determine that all the variants can anchor at the target site and resist peristaltic forces of 346 mN. The proposed design is well suited for an intestine with a diameter of 19 mm. The proposed design allows the capsule endoscopes to anchor at the target site for a better and more thorough examination of the targeted region. The proposed anchoring mechanism has the potential to become a vital apparatus for clinicians to use with capsule endoscopes in the future.<\/jats:p>","DOI":"10.3390\/mi13122045","type":"journal-article","created":{"date-parts":[[2022,11,23]],"date-time":"2022-11-23T02:55:51Z","timestamp":1669172151000},"page":"2045","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Anchoring Mechanism for Capsule Endoscope: Mechanical Design, Fabrication and Experimental Evaluation"],"prefix":"10.3390","volume":"13","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0969-1341","authenticated-orcid":false,"given":"Muhammad","family":"Rehan","sequence":"first","affiliation":[{"name":"Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand"},{"name":"Electronic Engineering Department, Sir Syed University of Engineering & Technology, Karachi 75300, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Andrew G.","family":"Yeo","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2177-6804","authenticated-orcid":false,"given":"Muhammad Uzair","family":"Yousuf","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, NED University of Engineering and Technology, Karachi 75270, Pakistan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4687-0859","authenticated-orcid":false,"given":"Ebubekir","family":"Avci","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Electrical Engineering, Massey University, Palmerston North 4410, New Zealand"},{"name":"MacDiarmid Institute for Advanced Materials and Nanotechnology, Wellington 6140, New Zealand"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,11,22]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/IRET-ME.1959.5007926","article-title":"Radio telemetering from within the human body","volume":"ME-6","author":"Mackay","year":"1959","journal-title":"IRE Trans. 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