本研究論文聚焦一種基于磁扭簧技術(shù)的藥物輸送和組織活檢雙功能膠囊機器人。無線膠囊內(nèi)窺鏡 (WCE) 因其低侵略性具有完全取代傳統(tǒng)有線內(nèi)窺鏡的潛力。最近的一些研究嘗試通過擴展膠囊的功能來實現(xiàn)這一目標。然而，該方法因有限的膠囊空間和能量供應(yīng)而存在明顯的缺陷，無法僅通過單個膠囊來執(zhí)行多項診斷和治療任務(wù)。本文開發(fā)了一種基于磁扭簧技術(shù)的雙功能膠囊機器人 (DFCR)，用于藥物輸送和組織活檢。其中，藥物釋放模塊以894 mN的推力旋轉(zhuǎn)推桿，釋放了約0.3 mL半固體藥物。活檢模塊使用內(nèi)置刀片以22.87 MPa的剪切應(yīng)力切割組織，產(chǎn)生了約1.8 mm³的樣品。此外，還開發(fā)了一種五自由度永磁驅(qū)動系統(tǒng)。通過調(diào)節(jié)外部磁鐵產(chǎn)生的單向磁場強度，可無線控制膠囊依次觸發(fā)這兩種功能。在豬胃上進行的體外試驗證實了原型膠囊 (?12 mm×45 mm) 在主動運動、藥物治療和組織活檢方面的可行性。新開發(fā)的DFCR進一步拓展了WCE機器人在微創(chuàng)手術(shù)中的臨床應(yīng)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

圖1 雙功能膠囊機器人（DFCR）概念性設(shè)計

圖2 磁場仿真分析

圖3 DFCR組成及最終原型機

圖4 膠囊機器人輸出扭矩測試

圖5 離體實驗中膠囊工作流程及實驗結(jié)果

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