A Multifunctional Capsule and Magnetic Navigation Platform for Controlled Actuation and Task Execution in GI Environments
Razan Abu-Shaera, Shivam Gupta, Veerash Palanichamy, Onaizah Onaizah
AI summary
Problem
Current wireless capsule endoscopes are largely passive and single-function, limiting their clinical utility for targeted drug delivery, sampling, and precise navigation within the gastrointestinal tract.
Approach
The authors developed a spring-magnet mechanism that uses a single external magnetic field to repeatedly open and close the capsule, paired with a 5-DOF magnetic navigation system for autonomous path tracking and task execution.
Key results
- Reduced required actuation magnetic field from 38.3 mT to 12.7 mT
- Achieved a 4-fold reduction in liquid leakage (6.19% vs 23.59%)
- Validated a large-workspace magnetic platform with 2.63 mm mean path tracking deviation
- Demonstrated targeted drug delivery, cargo transport, and sampling in anatomical phantoms
Why it matters
Provides a clinically feasible, unified framework for minimally invasive GI diagnostics and therapy, reducing power demands while enabling complex, remotely controlled interventions.
Abstract
Wireless capsule endoscopy provides a minimally invasive method for examining the gastrointestinal (GI) tract; however, most existing systems are limited to passive opera- tion and single functions, restricting control and functionality. This work presents the design, fabrication, and experimental evaluation of a multifunctional magnetically actuated capsule for drug delivery, sampling, and cargo transport. The capsule incorporates a novel spring–magnet mechanism that enables controlled, repeatable opening and closing under external magnetic fields using a single actuation input. In parallel, a large-workspace magnetic actuation platform is developed to support autonomous navigation and task execution. Iterative capsule designs improved fabrication and sealing performance, guided by analytical modeling. Experimental results demon- strate a substantial reduction in the required magnetic field for actuation (from 38.3 ± 7.7 mT to 12.7 ± 2.5 mT), alongside an approximately 4-fold reduction in leakage (6.19% vs. 23.59%). The actuation platform achieved accurate path tracking with a mean deviation of 2.63 mm across multiple trajectories and enabled navigation in a stomach phantom. These results demon- strate the feasibility of a multifunctional capsule platform with integrated actuation for minimally invasive GI interventions.