We present ๐๐ข๐ซ๐ข-๐๐๐ฉ๐ฌ๐ฎ๐ฅ๐, a swallowable kirigami-inspired capsule robot that enables minimally invasive GI biopsyโpushing capsule endoscopy from imaging to tissue sampling.
Wireless capsule endoscopy is comfortable and accessible, but cannot collect biopsy tissue, while histology is still the gold standard. Our work targets safe, depth-controlled, retrievable sampling in a capsule form factor.
๐ง Technical Framework:
โ Kirigami PI skin: flat during locomotion, deploys sharp protrusions when stretched
โ Dual-cam actuation: compact, repeatable deployment + recovery
โ Rotary scraping + internal storage: detach tissue and store it in internal cavities for retrieval
๐ฏ Experimental Results:
โ Penetration depth: median ~0.61 mm (0.46โ0.66 mm) on ex vivo porcine tissue
โ Biopsy yield: ~10.9 mg (stomach) / 18.9 mg (small intestine), histology-ready (mucosa + submucosa)
โ Forces within reported GI biopsy safety ranges
๐ก Significance:
A practical route toward capsule-based biopsy with controlled shallow interaction and retrievable specimensโwithout bulky endoscopic tools.
๐ฑ Next:
Moving toward untethered actuation (e.g., magnetic drive) and multi-site sampling to reduce mixing risk.
๐ #ICRA2026 #SoftRobotics #MedicalRobotics #CapsuleEndoscopy #Kirigami #BioInspiredRobotics #MinimallyInvasive #Biopsy #GI #RoboticsResearch
