JZUS - Journal of Zhejiang University SCIENCE

Journal of Zhejiang University SCIENCE B

Accepted manuscript available online (unedited version)

A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology

Author(s): Qing Cao, Yue Pan, Yangqianhui Zhang, Yuning Jiang, Guofang Gong, Huayong Yang, Fuzhou Niu, Dong Han
Affiliation(s): State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310058, China; School of Mechanical Engineering, Zhejiang University, Hang-zhou 310058, China; School of Mechanical Engineering, Suzhou University of Sci-ence and Technology 215009, China
Corresponding email(s): fzniu@usts.edu.cn, dong_han@zju.edu.cn
Key Words: Wireless capsule endoscopy (WCE) · Dual-functional capsule robot (DFCR) · Magnetic torsion spring (MTS) · Drug delivery · Tissue biopsy · Permanent magnet

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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 B,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/bdm.2400276

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author="Qing Cao, Yue Pan, Yangqianhui Zhang, Yuning Jiang, Guofang Gong, Huayong Yang, Fuzhou Niu, Dong Han",
journal="Journal of Zhejiang University Science B",
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publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/bdm.2400276"
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%0 Journal Article
%T A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology
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%A Yue Pan
%A Yangqianhui Zhang
%A Yuning Jiang
%A Guofang Gong
%A Huayong Yang
%A Fuzhou Niu
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%J Journal of Zhejiang University SCIENCE B
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doi="https://doi.org/10.1631/bdm.2400276"

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T1 - A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology
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A1 - Yuning Jiang
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A1 - Huayong Yang
A1 - Fuzhou Niu
A1 - Dong Han
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doi="https://doi.org/10.1631/bdm.2400276"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

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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