Research On Magnetic-driven Capsule Robot System With Targeted-location Drug Delivery Function For Intestinal Tract

The health state of the intestinal tract greatly affects the health of the human body.With the acceleration of people’s pace of life and the increase of life pressure,the probability of people suffering from intestinal diseases has been greatly increased,and their physical health has been seriously affected.Colonoscopy is currently the most direct and effective method for the detection of intestinal tumors and precancerous lesions,but colonoscopy is an invasive examinati on method,which brings great pain to patients during the examination process.Wireless capsule endoscope came into being,which avoids the pain of traditional examination,but it still has many defects and shortcomings.Currently,the capsules used in clinical practice can only realize image transmission without further auxiliary diagnosis and treatment function.The active movement,biopsy sampling,drug delivery and other functions are the key technologies that enable the capsule robot to be more effectively applied in clinical diagnosis and treatment.Based on the previous research of capsule robot technology,this paper presents a magnetic driven capsule robot with drug delivery function for intestinal tract.The capsule robot designed in this paper has an innovative structure design.Compared with the traditional wireless capsule endoscope,the capsule robot is equipped with a magnetic-driven decoupling module,an anchoring leg module and a drug delivery module,so that the capsule robot can realize the treatment task of drug delivery at a certain position in the intestine tract.Moreover,the capsule robot is driven by magnetic force,which does not require additional energy equipment such as batteries inside the capsule robot.The innovative design of the magnetic-driven decoupling module enables two functional modules to share a magnetic driver and the two functional modules can be controlled independently under the external magnetic field.In order to verify the functionality of the capsule robot designed in this paper,a prototype of capsule robot was produced by 3D printing and CNC processing technology.The capsule robot prototype was used to measure the rotational torque required by the functional module and the rotational torque transmitted by the magnetic-driven module on the measuring platform,and the prototype test was carried out in combination with theoretical analysis.The results show that the capsule prototype has good functionality.In order to verify the anchoring capability of the designed capsule robot,an experimental platform for anchoring force measurement was built in this study.The friction between the capsule robot and the intestine was measured under the conditions of the expansion and withdrawal of the anchoring legs on the platform.The experimental results show that the capsule robot has good anchoring capability.Finally,in the targetedlocation drug delivery experimental platform,the capsule robot prototype successfully completed the targeted-location drug delivery task in the simulated intestinal under the action of external magnetic driver.The capsule robot designed in this paper is a future-oriented functional capsule robot,and the proposed integration scheme of multiple functional modules sharing a driver is of innovative significance,which is of important reference value for the functional capsule robot to realize multi-function while maintaining miniaturization.