Design And Research On The Structure Of Magnetic Driven Biopsy Capsule Robot

Recently,as a new type of visualized diagnosis and treatment tool,capsule endoscopy has been widely used in the diagnosis of the digestive tract and has become a research hotspot for scholars at home and abroad.In order to solve the problem that commercial capsule endoscope cannot move actively and has a single function,this study designed a new magnetic-driven capsule biopsy robot,which mainly consists of three parts: biopsy module,anchor module and magnetic switch.Firstly,the different working modes of the control system are analyzed,which lays the theoretical foundation for the movement mode of the magnetically driven biopsy capsule robot and the autonomous control of the biopsy mode.Secondly,a magnetically driven biopsy capsule robot prototype based on the modular capsule robot system is designed.The structure and movement principle of the biopsy module,anchoring module and magnetic switch are described.Thirdly,in this study,dynamic analysis and fluid dynamics simulation of the designed biopsy capsule robot were carried out.In addition,kinematics analysis was carried out on the crank slider mechanism of the biopsy module,and the biopsy cutting force was analyzed and simulated.The simulation results show that the biopsy module can provide sufficient biopsy cutting force to complete tissue sampling.Finally,the simulation experiment of biopsy capsule robot was designed,including the motion characteristic evaluation experiment,biopsy cutting force evaluation experiment and accurate biopsy evaluation experiment.The experimental results show that the capsule biopsy robot can switch motion mode and function mode under the control of magnetic switch,and achieve accurate biopsy according to the location of different lesions.In the future,a capsule endoscope with active movement function and a biopsy module integrated with the function of sampling the diseased tissue may become a potential alternative to traditional endoscopy methods.