Capsule-odometer: A concept to improve accurate lesion localisation

Figure 3 In vivo experiment. A and B: Glass tank (50 cm × 20 cm × 20 cm) with fix points for the intestine (metal tubes) and entry points for the capsule device, C: Standard simulated intestinal environment created by mounting 32 cm long, freshly harvested porcine small-intestine to both ends of a fluid-filled tank (arrow); D: Capsule device (assembled ring with wheels on spring on a MiroCam^®) was inserted into the suspended bowel via one of the metal tubes.