A novel intestinal microcapsule endoscope robot with biopsy function

Abstract

This paper presents an intestinal microcapsule endoscope robot with a biopsy function. The designed microcapsule robot includes two capsule shells and a biopsy function module. Inside the capsule housing is provided with a sampling slot, which extends from the inside of the capsule housing to the outer capsule; the sampling device is composed of a rack module and a biopsy module connected to each other; the biopsy module is arranged toward the outlet of the sampling slot, and the rack module is set in the sampling tank. The driving device includes a motor, a driving motor shaft, and a driving gear connected with the motor through the driving motor shaft, and the driving gear and the rack module are engaged. The transmission structure of the rack and gear combination is simple in construction, transmission movement is accurate and stable, and the ingenious design of miniature barb causes minimal surgical trauma. Through simulation analysis and testing, we have manufactured corresponding products. Experimental tests demonstrate that the designed capsule robot can perform biopsy successfully.