Design of a Novel Drug-Delivery Capsule Robot

This paper proposes a modular capsule robot. It can move actively. The main robot is responsible for collecting images to determine the location of the lesion, and the auxiliary robot is used to release medicine to the location of the lesion. Their 3D models were constructed by SolidWorks and printed by 3D printers. In addition, it also carefully presents the robot's drive system, motion control theory, and the principle of drug delivery. In the magnetic field generated by the three-axis Helmholtz coil, the robot's motion characteristics are tested, and the relationship curve between the robot's speed and the current frequency is simulated. The modular experiment of two robots also has been verified many times.