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Received: 2024-07-14
Revision Accepted: 2024-10-19
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Qing Cao, Yue Pan, Yangqianhui Zhang, Yuning Jiang, Guofang Gong, Huayong Yang, Fuzhou Niu, Dong Han. A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology[J]. Journal of Zhejiang University Science D, 2025, 8(3): 495510.
@article{title="A dual-functional capsule
robot for drug delivery and
tissue biopsy based on
magnetic torsion spring
technology",
author="Qing Cao, Yue Pan, Yangqianhui Zhang, Yuning Jiang, Guofang Gong, Huayong Yang, Fuzhou Niu, Dong Han",
journal="Journal of Zhejiang University Science D",
volume="8",
number="3",
pages="495510",
year="2025",
publisher="Zhejiang University Press & Springer",
doi="10.1631/bdm.2400276"
}
%0 Journal Article
%T A dual-functional capsule
robot for drug delivery and
tissue biopsy based on
magnetic torsion spring
technology
%A Qing Cao
%A Yue Pan
%A Yangqianhui Zhang
%A Yuning Jiang
%A Guofang Gong
%A Huayong Yang
%A Fuzhou Niu
%A Dong Han
%J Journal of Zhejiang University SCIENCE D
%V 8
%N 3
%P 495510
%@ 1869-1951
%D 2025
%I Zhejiang University Press & Springer
%DOI 10.1631/bdm.2400276
TY - JOUR
T1 - A dual-functional capsule
robot for drug delivery and
tissue biopsy based on
magnetic torsion spring
technology
A1 - Qing Cao
A1 - Yue Pan
A1 - Yangqianhui Zhang
A1 - Yuning Jiang
A1 - Guofang Gong
A1 - Huayong Yang
A1 - Fuzhou Niu
A1 - Dong Han
J0 - Journal of Zhejiang University Science D
VL - 8
IS - 3
SP - 495510
EP -
%@ 1869-1951
Y1 - 2025
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/bdm.2400276
Abstract: Wireless capsule endoscopy (WCE) has the potential to fully replace conventional wired counterparts for its low invasive
ness. Recent studies have attempted to expand the functions of capsules toward this goal. However, limitations in space and
energy supply have resulted in the inability to perform multiple diagnostic and treatment tasks using a single capsule. In this
study, we developed a dual-functional capsule robot (DFCR) for drug delivery and tissue biopsy based on magnetic torsion
spring technology. The delivery module was shown to rotate the push rod with a thrust of 894 mN to release approximately
0.3 mL of semisolid drug. The biopsy module used a built-in blade to cut tissue with a shear stress of 22.87 MPa, producing
a sample of approximately 1.8 mm3. Additionally, a five-degree-of-freedom permanent magnet drive system was developed.
By adjusting the strength of the unidirectional magnetic field generated by an external magnet, the capsule can be wirelessly
controlled to sequentially trigger the two functions. Ex vivo tests on porcine stomachs confirmed the feasibility of the proto
type capsule (12 mm in diameter and 45 mm in length) in active movement, medication, and tissue biopsy. The newly devel
oped DFCR further expands the clinical application prospects of WCE robots in minimally invasive surgery.
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