Study on the Active Movement Capsule Robot for Biopsy

Abstract

In this paper, a novel biopsy robot is proposed. In order to solve the problem of the single function of the commercial capsule endoscope, this paper proposes a novel biopsy capsule robot driven by an external magnetic field. The module includes two radial magnetized magnetic rings and a biopsy mechanism. Without considering the addition energy consumption, using the coupling effect of the three-axis Helmholtz coil and the robot's built-in magnet, the crank slider mechanism converts the torque acting on the magnet by a uniform rotating magnetic field into the cutting force during biopsy. The magnetic switch used to control the switching between the motion function of the anchor biopsy robot and the anchor biopsy function. Finally, the functional modules in the pipeline of anchored biopsy robot is verified by experiments. The results show that the biopsy robot can realize the robot's anchoring in the intestine while performing the biopsy function. The realization of the biopsy capsule robot has important medical diagnostic significance.