Preliminary Design of a Magnetically Actuated Multifunctional Biopsy Capsule Robot

We propose a novel magnetically actuated multifunctional capsule robot to perform active locomotion and biopsy functions. The capsule robot is governed by a magnetically actuated system that utilizes three-axis Helmholtz coils to produce rotating magnetic fields in three dimensions. The capsule robot is main composed of a spiral body, screw shaft, nut, annular magnet, cylindrical magnet, bearing, and biopsy needle. We analyze the magnetic torque and force generated by the magnets for application in active locomotion and biopsy procedures. Finally, we prototype the biopsy capsule robot and conduct experiments to validate its ability to perform active locomotion and biopsy procedures within pipelines.