A Magnetically Controlled Capsule Robot with Biopsy Capability for Intestinal Applications

Magnetically controlled capsule robots offer unique advantages for performing intestinal biopsies. In this paper, we propose a novel Magnetically Controlled Capsule Robot for Intestinal Biopsy (MCCR-IB), capable of both navigation and biopsy within the intestine. To address the coupling issue between locomotion control and biopsy control, a magnetic field locking method is also introduced. The locomotion performance, curved-passage capability, and biopsy ability were experimentally evaluated. Under a 7 Hz rotating magnetic field, the MCCR-IB achieved forward and backward velocities of 20.22 mm/s and 18.27 mm/s, respectively, with a biopsy needle puncture force of 1.99 N. Furthermore, ex vivo experiments were conducted to preliminarily verify the feasibility of the robot's motion and biopsy functions. The experimental results demonstrate that the proposed MCCR-IB exhibits good performance and shows promising potential for future clinical applications.