Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach

Zhihui Xu1; Tanyong Wei1; Zongze Li1; Ding Huang1; Shoubin Liu2; Chengzhi Hu1

10.1109/ROBIO58561.2023.10354798

2023

979-8-3503-2571-3

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)

1-6

4-9 Dec. 2023

Koh Samui, Thailand

Capsule robots have emerged as a promising solution for non-invasive and painless screening of gastrointestinal diseases, offering significant advantages in patient comfort and reduced risk of cross-infection. Despite these advantages, existing capsule robots fall short in their ability to conduct targeted biopsies and deliver drugs to specific gastric lesions. To address this limitation, this paper presents the design and development of a magnetically driven capsule robot that leverages visual feedback to achieve accurate targeting for biopsy and drug administration in gastric lesions. Internal magnets, responsive to an external gradient magnetic field, enable the controlled propulsion of the capsule robot. A kinetic model of the capsule robot is analyzed, allowing it to recognize lesion contours through the endoscopic camera. This recognition determines the rotation angle or small adjustments required for the capsule robot's attitude and positioning. Experimental results in a simplified in vitro stomach model showcase the capability of the capsule robot to achieve targeted biopsy and drug delivery. These results highlight the potential feasibility of the proposed capsule robot in enhancing diagnostic accuracy and treatment efficacy with broader applications within the realm of gastric healthcare.

Drugs Stomach Visualization Targeted drug delivery Biological system modeling Robot vision systems Cameras

第一

EI

20240315404541

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 Engineering and Automation, Harbin Institute of Technology, Shenzhen, China

Zhihui Xu,Tanyong Wei,Zongze Li,et al. Magnetically Driven Capsule Robot for Multi-Targeted Biopsy and Drug Delivery in Stomach[C],2023:1-6.