The future of capsule endoscopy may be in miniature robotic arms that can take biopsies and perform therapeutic functions. Researchers at Carnegie Mellon University have developed this capsule that has robotic arms that open to "hold" the capsule in-place in the gut. Essentially, these arms open to get this capsule stuck. Then, when the arms retract and close, the capsule is free to continue its course through the GI tract. Photo source: NanoRobotics Lab at Carnegie Mellon