Magnetically Actuated Capsule Mechanism for Drug Delivery, Sampling, and Cargo Transport in the Gastrointestinal Tract

Wireless capsule endoscopes are often limited to imaging applications and can lack active control capabilities. Over the last two decades, a growing body of research in medical robotics has introduced active actuation. Embedding magnetic components inside these devices is one of the ways to achieve this; however, most of these tools are still limited to a single function, such as drug delivery, sampling, or imaging. Multifunctional capsules that can perform several different tasks can be used for a range of biomedical applications, leading to easy adoption due to their versatility. In this study, we present a novel magnetically actuated capsule with a spring-magnet mechanism designed for drug delivery, microbiome sampling, and cargo transport. The capsule is remotely actuated using external magnetic fields generated by a permanent magnet. It can be ingested orally, activated at a target location for drug delivery, microbiome sampling, or transporting cargo, and expelled naturally. A mathematical model is developed to optimize the mechanism's design. We demonstrate the capsule's multi-functional capabilities through successful drug delivery, sampling, and cargo transport experiments in a 3D printed maze. We also demonstrate capsule navigation in a stomach phantom. This unique mechanism can be adapted and integrated into a range of microrobotic devices, expanding their functionality and clinical utility.