Design and Finite Element Analysis of Anastomosis System for Digestive Tract Surgery Aiming at the problem of small space in digestive tract surgery, the design scheme of digestive tract operation anastomosis system is put forward, which is composed of four modules: the continuous body mechanism, the terminal actuator, the twoarm grab clamp and the endoscope anchor, which can realize the crawl, shear and suture action of lesion tissue. Using the universal drive bending mechanism as the driving and compensation scheme of the continuous body mechanism, the continuous body mechanism has 38 degrees of freedom, and the actuator movement is carried out by the line driven control end, so that it can complete the difficult operation in a narrow space. In order to eliminate the surgical tremor, based on ANSYS Workbench software, the finite element model of the continuous body mechanism is established, the natural frequency and maximum deformation number of the first tenorder modes are obtained, and the natural frequency range of the whole machine is obtained, thus avoiding the resonance occurrence, which provides a reliable guarantee for the safe implementation of the operation and the subsequent animal experiments.

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.