The Structural Design of a Magnetic Driven Wireless Capsule Robot for Drug Delivery

The development of the millimeter-level wireless magnetic actuated robot has provided the possibility for the development of endoscope. In the modern medical system, drugs enter the human body by oral administration and reach the intestinal tract through the esophagus and stomach. If the lesion is located in the gastrointestinal tract, most of the drugs have been absorbed by other parts, and the efficacy is not maximized. In this paper, a structure design of multi-capsule robotic group fixed-point drug release based on Ferro fluid is proposed. The robots group is composed of a front robot and a rear robot, each of which is composed of the robotic body, permanent magnet and Ferro fluid. Permanent magnets are fixed inside of the robot and the rotating electromagnetic field generated by the Helmholtz coils actuates the robots to move forward. Each robot is injected with Ferro fluid, and a clamping force can be generated between the two robots by applying an external magnetic field. The experimental results show that the capsule robots group can reach the designated location for drug release by rotating magnetic field and external permanent magnet.