Magnetically-actuated intracorporeal biopsy robot based on Kresling Origami

摘要

The introduction of wireless capsule endoscopy has brought a revolutionary change in the diagnostic procedures for gastrointestinal disorders. Biopsy, an essential procedure for disease diagnosis, has been integrated into robotic capsule endoscopy to augment diagnostic capabilities. In this study, we propose a magnetically driven biopsy robot based on a Kresling origami. Considering the bistable properties of Krelsing origami and the elasticity of the creases, a foldable structure of the robot with constant force characteristics is designed. The folding motion of the structure is used to deploy the needle into the target tissue. The robot is capable of performing rolling motion under the control of an external magnetic drive system, and a fine needle biopsy technique is used to collect deep tissue samples. We also conduct in vitro rolling experiments and sampling experiments on apple tissues and pork tissues, which verify the performance of the robot.