一种基于磁扭簧技术的药物输送和组织活检双功能胶囊机器人

本研究论文聚焦一种基于磁扭簧技术的药物输送和组织活检双功能胶囊机器人。无线胶囊内窥镜 (WCE) 因其低侵略性具有完全取代传统有线内窥镜的潜力。最近的一些研究尝试通过扩展胶囊的功能来实现这一目标。然而，该方法因有限的胶囊空间和能量供应而存在明显的缺陷，无法仅通过单个胶囊来执行多项诊断和治疗任务。本文开发了一种基于磁扭簧技术的双功能胶囊机器人 (DFCR)，用于药物输送和组织活检。其中，药物释放模块以894 mN的推力旋转推杆，释放了约0.3 mL半固体药物。活检模块使用内置刀片以22.87 MPa的剪切应力切割组织，产生了约1.8 mm³的样品。此外，还开发了一种五自由度永磁驱动系统。通过调节外部磁铁产生的单向磁场强度，可无线控制胶囊依次触发这两种功能。在猪胃上进行的体外试验证实了原型胶囊 (?12 mm×45 mm) 在主动运动、药物治疗和组织活检方面的可行性。新开发的DFCR进一步拓展了WCE机器人在微创手术中的临床应用前景。

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Cao Q, Pan Y, Zhang Y, et al., 2025. A dual-functional capsule robot for drug delivery and tissue biopsy based on magnetic torsion spring technology. Bio-des Manuf 8(3):495–510. https://doi.org/10.1631/bdm.2400276

图1 双功能胶囊机器人（DFCR）概念性设计

图2 磁场仿真分析

图3 DFCR组成及最终原型机

图4 胶囊机器人输出扭矩测试

图5 离体实验中胶囊工作流程及实验结果

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