Design of A Novel Biopsy Capsule Robot with Anchoring Function for Intestinal Tract This paper presents a biopsy capsule robot with anchoring function inside the intestinal tract. The proposed biopsy capsule consists of three modules: biopsy module, anchoring module and decoupledrive module. The design of the biopsy module and anchoring module is based on the eccentric cam mechanism and ratchet mechanism. The structure design and motion analysis of the biopsy mechanism and anchoring mechanism is presented. The designed decoupledrive module consists of two parts: a magneticdrive shaft and two elasticpawls. Benefiting from the combination of the elasticpawls on the decoupledrive module and the ratchets on the two function modules (i.e. biopsy and anchoring module), the two function modules can be driven by a single actuator, which can further help reduce the size of biopsy capsule robots and achieve miniaturization. The design concept and working principles of the proposed biopsy capsule are introduced in this paper and are verified by a prototype with the diameter of 16mm and length of 24mm that successfully integrates the three modules.

Magnetically Driven Wireless Capsule Robot with Targeting Biopsy Function In this work, we present a novel magnetically actuated wireless capsule robot with biopsy function based on the principle of magnetic torsion spring (MTS). MTS is a simple device consisting of two ringshape permanent magnets inside the capsule. It can be remotely controlled by an external uniform magnetic field so that the biopsy tool can be extended from the capsule to perform biopsy sampling operations. The energy required for biopsy is all provided by the external magnetic driving system without the need to consume the battery energy of the capsule itself. Magnetic finite element analysis is conducted to design MTS. Kinematics and force analysis of the biopsy tools is also provided. Finally, a pillshape prototype of capsule robot is manufactured with dimension of 14 mm in diameter and 32 mm in length. In vitro experiments were carried out with this prototype to verify the feasibility of the biopsy module mechanism design and to test the ability for active locomotion.