A Novel Capsule Endoscopy Robot for Gastric Sampling

Capsule endoscopy has emerged as a critical diagnostic modality for early gastric cancer detection. However, the current technology lacks biopsy capability, potentially compromising diagnostic accuracy through incomplete tissue sampling. To address this limitation, we present a novel magnetically guided capsule endoscopy system with integrated biopsy functionality. The proposed robotic device consists of three key components: a micro biopsy forceps module, a permanent magnet for external magnetic manipulation, and an endoscopic imaging system. This integrated design enables targeted tissue sampling through external magnetic field control following comprehensive endoscopic examination. Based on the system architecture of capsule endoscopy, we incorporated commercially available biopsy forceps into the system design. A prototype with dimensions of 17 mm in length and 14 mm in diameter was developed. Phantom and in vitro experiments were then conducted to evaluate system performance. Experimental results demonstrated the robot’s capability to effectively perform gastric biopsy sampling, exhibiting reliable tissue acquisition under controlled testing conditions.