{"id":3443,"date":"2026-02-17T01:10:56","date_gmt":"2026-02-17T01:10:56","guid":{"rendered":"http:\/\/www.labren.org\/mm\/?p=3443"},"modified":"2026-02-17T01:10:57","modified_gmt":"2026-02-17T01:10:57","slug":"%f0%9f%9a%80-icra-2026-%f0%9d%91%b2%f0%9d%92%8a%f0%9d%92%93%f0%9d%92%8a-%f0%9d%91%aa%f0%9d%92%82%f0%9d%92%91%f0%9d%92%94%f0%9d%92%96%f0%9d%92%8d%f0%9d%92%86-%f0%9d%91%b2%f0%9d%92%8a","status":"publish","type":"post","link":"http:\/\/www.labren.org\/mm\/news\/%f0%9f%9a%80-icra-2026-%f0%9d%91%b2%f0%9d%92%8a%f0%9d%92%93%f0%9d%92%8a-%f0%9d%91%aa%f0%9d%92%82%f0%9d%92%91%f0%9d%92%94%f0%9d%92%96%f0%9d%92%8d%f0%9d%92%86-%f0%9d%91%b2%f0%9d%92%8a\/","title":{"rendered":"\ud83d\ude80 ICRA 2026: \ud835\udc72\ud835\udc8a\ud835\udc93\ud835\udc8a-\ud835\udc6a\ud835\udc82\ud835\udc91\ud835\udc94\ud835\udc96\ud835\udc8d\ud835\udc86 \u2014 \ud835\udc72\ud835\udc8a\ud835\udc93\ud835\udc8a\ud835\udc88\ud835\udc82\ud835\udc8e\ud835\udc8a \ud835\udc69\ud835\udc8a\ud835\udc90\ud835\udc91\ud835\udc94\ud835\udc9a \ud835\udc6a\ud835\udc82\ud835\udc91\ud835\udc94\ud835\udc96\ud835\udc8d\ud835\udc86 \ud835\udc79\ud835\udc90\ud835\udc83\ud835\udc90\ud835\udc95 \ud83e\uddec\ud83e\udd16"},"content":{"rendered":"\n<p>We present \ud835\udc0a\ud835\udc22\ud835\udc2b\ud835\udc22-\ud835\udc02\ud835\udc1a\ud835\udc29\ud835\udc2c\ud835\udc2e\ud835\udc25\ud835\udc1e, a swallowable kirigami-inspired capsule robot that enables minimally invasive GI biopsy\u2014pushing capsule endoscopy from imaging to tissue sampling.<\/p>\n\n\n\n<p>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.<\/p>\n\n\n\n<p>\ud83e\udde0 Technical Framework:<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Kirigami PI skin: flat during locomotion, deploys sharp protrusions when stretched<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Dual-cam actuation: compact, repeatable deployment + recovery<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Rotary scraping + internal storage: detach tissue and store it in internal cavities for retrieval<\/p>\n\n\n\n<p>\ud83c\udfaf Experimental Results:<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Penetration depth: median ~0.61 mm (0.46\u20130.66 mm) on ex vivo porcine tissue<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Biopsy yield: ~10.9 mg (stomach) \/ 18.9 mg (small intestine), histology-ready (mucosa + submucosa)<\/p>\n\n\n\n<p>\u25cf&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Forces within reported GI biopsy safety ranges<\/p>\n\n\n\n<p>\ud83d\udca1 Significance:<\/p>\n\n\n\n<p>A practical route toward capsule-based biopsy with controlled shallow interaction and retrievable specimens\u2014without bulky endoscopic tools.<\/p>\n\n\n\n<p>\ud83c\udf31 Next:<\/p>\n\n\n\n<p>Moving toward untethered actuation (e.g., magnetic drive) and multi-site sampling to reduce mixing risk.<\/p>\n\n\n\n<p>\ud83d\udd16 <strong>#ICRA2026<\/strong> <strong>#SoftRobotics<\/strong> <strong>#MedicalRobotics<\/strong> <strong>#CapsuleEndoscopy<\/strong> <strong>#Kirigami<\/strong> <strong>#BioInspiredRobotics<\/strong> <strong>#MinimallyInvasive<\/strong> <strong>#Biopsy<\/strong> <strong>#GI<\/strong> <strong>#RoboticsResearch<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/media.licdn.com\/dms\/image\/v2\/D5622AQGsPNO4sqWu3w\/feedshare-shrink_800\/B56ZxpFqvwKIAg-\/0\/1771289619746?e=1772668800&amp;v=beta&amp;t=zgeaG9gQFB4SJsJeMY2nx2fzJGlp6pSB8MPJPrumrPg\" alt=\"diagram\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>We present \ud835\udc0a\ud835\udc22\ud835\udc2b\ud835\udc22-\ud835\udc02\ud835\udc1a\ud835\udc29\ud835\udc2c\ud835\udc2e\ud835\udc25\ud835\udc1e, a swallowable kirigami-inspired capsule robot that enables minimally invasive GI biopsy\u2014pushing 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\u2026 <a class=\"continue-reading-link\" href=\"http:\/\/www.labren.org\/mm\/news\/%f0%9f%9a%80-icra-2026-%f0%9d%91%b2%f0%9d%92%8a%f0%9d%92%93%f0%9d%92%8a-%f0%9d%91%aa%f0%9d%92%82%f0%9d%92%91%f0%9d%92%94%f0%9d%92%96%f0%9d%92%8d%f0%9d%92%86-%f0%9d%91%b2%f0%9d%92%8a\/\">Continue reading<\/a><\/p>\n","protected":false},"author":17,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"ngg_post_thumbnail":0,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-3443","post","type-post","status-publish","format-standard","hentry","category-news"],"_links":{"self":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3443","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/users\/17"}],"replies":[{"embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/comments?post=3443"}],"version-history":[{"count":1,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3443\/revisions"}],"predecessor-version":[{"id":3444,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/posts\/3443\/revisions\/3444"}],"wp:attachment":[{"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/media?parent=3443"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/categories?post=3443"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.labren.org\/mm\/wp-json\/wp\/v2\/tags?post=3443"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}