A Magnetic Capsule Robot with an Exoskeleton to Withstand Esophageal Pressure and Delivery Drug in Stomach

Ruomao Liu; Yujun Chen; Yin Zhen; Jiachen Zhang

doi:10.1109/LRA.2024.3500888

A Magnetic Capsule Robot with an Exoskeleton to Withstand Esophageal Pressure and Delivery Drug in Stomach

Ruomao Liu, Yujun Chen, Yin Zhen^*, Jiachen Zhang^*

^*Corresponding author for this work

Department of Biomedical Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

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Abstract

Capsule medicine is one of the most widely used methods of drug delivery into the human digestive tract. Packaging drugs into capsules not only prevents contamination of the drug before reaching the destination, but also protects the digestive organs and respiratory tract from potential damages caused by drug reactions. After reaching the targeted digestive organs, the drugs in the orally taken capsules usually can only be released passively. Most capsule robots that have been proposed to release drugs actively did not consider the compressed pressure when they pass through the esophagus, which could lead to premature drug release. This letter proposes a magnetic capsule robot that can withstand intra-esophageal pressure and also has the advantages of active locomotion and on-demand drug releasing. The proposed robot consists of two permanent magnets, an exoskeleton, and a soft non-magnetic container. Thus, it can withstand intra-esophageal pressure when it passes through the esophagus. This capsule robot can enter the stomach for targeted drug releasing without leaking liquid drugs along the path. The behavior of the robot is controllable using an external magnetic field thanks to the ring-shaped magnets mounted on the robot's top and bottom sections. The non-magnetic drug container will not be influenced by the external magnetic field during the locomotion to prevent leakage. The experiments show that this proposed capsule robot is more relevant to real-world medical applications thanks to its unique capability to withstand esophageal pressure. © 2024 IEEE.

Original language	English
Pages (from-to)	11802-11809
Journal	IEEE Robotics and Automation Letters
Volume	9
Issue number	12
Online published	18 Nov 2024
DOIs	https://doi.org/10.1109/LRA.2024.3500888
Publication status	Published - Dec 2024

Funding

This work was supported in part by the Research Grants Council of the Hong Kong Special Administrative Region, China, through Project Number CityU21202822, in part by the National Natural Science Foundation of China through Project Number 62303387, and in part by the Shanghai Pilot Program for Basic Research.

Research Keywords

Compliant Joints and Mechanisms
Robot Safety
Soft Robot Applications

Publisher's Copyright Statement

COPYRIGHT TERMS OF DEPOSITED POSTPRINT FILE: © 2024 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Liu, R., Chen, Y., Zhen, Y., & Zhang, J. (2024). A Magnetic Capsule Robot with an Exoskeleton to Withstand Esophageal Pressure and Delivery Drug in Stomach. IEEE Robotics and Automation Letters, 9(12), 11802-11809. https://doi.org/10.1109/LRA.2024.3500888

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abstract = "Capsule medicine is one of the most widely used methods of drug delivery into the human digestive tract. Packaging drugs into capsules not only prevents contamination of the drug before reaching the destination, but also protects the digestive organs and respiratory tract from potential damages caused by drug reactions. After reaching the targeted digestive organs, the drugs in the orally taken capsules usually can only be released passively. Most capsule robots that have been proposed to release drugs actively did not consider the compressed pressure when they pass through the esophagus, which could lead to premature drug release. This letter proposes a magnetic capsule robot that can withstand intra-esophageal pressure and also has the advantages of active locomotion and on-demand drug releasing. The proposed robot consists of two permanent magnets, an exoskeleton, and a soft non-magnetic container. Thus, it can withstand intra-esophageal pressure when it passes through the esophagus. This capsule robot can enter the stomach for targeted drug releasing without leaking liquid drugs along the path. The behavior of the robot is controllable using an external magnetic field thanks to the ring-shaped magnets mounted on the robot's top and bottom sections. The non-magnetic drug container will not be influenced by the external magnetic field during the locomotion to prevent leakage. The experiments show that this proposed capsule robot is more relevant to real-world medical applications thanks to its unique capability to withstand esophageal pressure. {\textcopyright} 2024 IEEE.",

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AB - Capsule medicine is one of the most widely used methods of drug delivery into the human digestive tract. Packaging drugs into capsules not only prevents contamination of the drug before reaching the destination, but also protects the digestive organs and respiratory tract from potential damages caused by drug reactions. After reaching the targeted digestive organs, the drugs in the orally taken capsules usually can only be released passively. Most capsule robots that have been proposed to release drugs actively did not consider the compressed pressure when they pass through the esophagus, which could lead to premature drug release. This letter proposes a magnetic capsule robot that can withstand intra-esophageal pressure and also has the advantages of active locomotion and on-demand drug releasing. The proposed robot consists of two permanent magnets, an exoskeleton, and a soft non-magnetic container. Thus, it can withstand intra-esophageal pressure when it passes through the esophagus. This capsule robot can enter the stomach for targeted drug releasing without leaking liquid drugs along the path. The behavior of the robot is controllable using an external magnetic field thanks to the ring-shaped magnets mounted on the robot's top and bottom sections. The non-magnetic drug container will not be influenced by the external magnetic field during the locomotion to prevent leakage. The experiments show that this proposed capsule robot is more relevant to real-world medical applications thanks to its unique capability to withstand esophageal pressure. © 2024 IEEE.

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A Magnetic Capsule Robot with an Exoskeleton to Withstand Esophageal Pressure and Delivery Drug in Stomach

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ECS: Computer-aided Teleoperation System for Millimetre-scale Magnetic Soft Capsule Robot in Minimally Invasive Healthcare and Targeted Intervention

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A Magnetic Capsule Robot with an Exoskeleton to Withstand Esophageal Pressure and Delivery Drug in Stomach

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Research Keywords

Publisher's Copyright Statement

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ECS: Computer-aided Teleoperation System for Millimetre-scale Magnetic Soft Capsule Robot in Minimally Invasive Healthcare and Targeted Intervention

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