Structural Design and Analysis of Seed Implantation Robot Based on Flexible Shaft Transmission Seed implantation therapy has become an inevitable trend in the treatment of cancer because of its strong targeting, less trauma, definite curative effect and no side effects. However, most of the current seed implantation procedures are manually operated by doctors, and the accuracy of seed implantation is low due to fatigue. To solve this problem, this paper designs and analyzes a seed implanted robot based on flexible shaft Transmission. The robot is composed of a pose adjustment mechanism and a seed implantation mechanism. The pose adjustment mechanism is responsible for adjusting the pose of the seed implantation mechanism, the seed implantation mechanism is responsible for driving the horizontal movement of the hollow needle and the solid needle. The kinematics equation of the robot is obtained by kinematics analysis, and then the Monte Carlo method is used to simulate and analyze the workspace, which verifies the reliability of the design. Through the experimental analysis of the efficiency of the flexible shaft transmission, the influence of bending angle and load on it is obtained, which provides a good experimental basis for precise control.

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.