Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration

Zhihui Xu1; Zongze Li1; Shoubin Liu2; Chengzhi Hu1

10.1109/ICMA57826.2023.10216149

2023

2152-7431

979-8-3503-2085-5

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

2297-2302

6-9 Aug. 2023

Harbin, Heilongjiang, China

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion.

Capsule robot biopsy drug administration simulation

第一

EI

20233714732639

Machine design ; Needles ; Noninvasive medical procedures ; Robots ; Tissue

Biological Materials and Tissue Engineering:461.2 ; Medicine and Pharmacology:461.6 ; Mechanical Design:601 ; Robotics:731.5

IEEE

1.Department of Mechanical and Energy Engineering, Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China
2.School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Shenzhen, China

Zhihui Xu,Zongze Li,Shoubin Liu,et al. Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration[C],2023:2297-2302.