Design and Evaluation of a Novel Magnetoactive Biopsy Capsule Endoscope Robot

Due to the continuous improvement of people's living standard, the prevalence of gastrointestinal disease, surgery for patients will produce a large number of traditional stomach discomfort, therefore wireless capsule endoscopy as a kind of new visual diagnosis tool has been widely used in the diagnosis of gastrointestinal tract. In this paper, a novel biopsy capsule endoscope robot controlled by an external magnetic field is designed. According to the working principle of the CAM structure, the biopsy module is proposed and manufactured. At the same time, the control system of the robot is introduced, including the driving system of the capsule robot and the biopsy process of the biopsy module. The biopsy capsule robot is driven by a three-axis Helmholtz coil system, with the propeller as the driving device and the CAM structure as the biopsy device. A micro - barbed device with three micro barbs was designed as the head of the biopsy, which can reduce the damage to the patient's gastrointestinal tract. Furthermore this paper also conduct force analysis on the biopsy forceps and evaluate the cutting force of the biopsy. Finally, in order to verify the feasibility of the biopsy function, we carry out a series of biopsy experiments on the robot in a fluid-filled pipeline.