A Novel Anchoring Capsule Robot Actuated by a Planar Electromagnetic Coil Array

In small intestine examinations, wireless capsule endoscopes rely on natural intestinal peristalsis for movement. However, this dependence on physiological processes often results in uncontrolled motion, potentially leading to inadequate assessments and an increased risk of missed diagnoses. To enhance the efficacy and comprehensiveness of these inspections, it is crucial to achieve more stable observations through effective anchoring of the capsule endoscopes. This study presents a novel anchoring capsule robot characterized by its simple structure and compact design. The structure incorporates a geometrically enclosed cam-slider mechanism that enables safe, continuous, and reversible deployment of anchoring legs under an external magnetic field, allowing the capsule to generate high anchoring forces. Additionally, an open-architecture planar electromagnetic coil array is proposed to precisely control the extension of the legs and provide a practical bedside workspace. In vitro tests and in vivo porcine experiments demonstrate that the capsule effectively counteracts intestinal peristaltic forces to maintain positional stability, while ensuring reliable release under dynamic physiological conditions.