仿生折纸胶囊机器人用于微创消化道活检
Bioinspired Kirigami Capsule Robot for Minimally Invasive Gastrointestinal Biopsy
AI总结：
Kiri-Capsule是一种受折纸启发的胶囊机器人，通过双凸轮机构驱动可展开PI薄膜褶皱，实现微创、可重复的消化道组织活检，提供可进行组织学分析的活检样本。
摘要：
无线胶囊内窥镜（WCE）通过使消化道非侵入性可视化革新了消化系统诊断，但其诊断效果仍受缺乏活检能力的限制，因为组织学分析仍是确诊疾病的标准。传统活检使用镊子、针或旋转刀片进行侵入性操作，受限于操作范围，并存在穿孔或黏膜创伤的风险，而液体或微生物采样胶囊无法提供结构化的组织供病理学分析，留下吞咽式活检解决方案的关键空白。本文提出Kiri-Capsule，一种受折纸启发的胶囊机器人，其整合了由紧凑双凸轮机构驱动的可展开PI薄膜褶皱，以实现微创且可重复的组织收集。折纸表面在运动过程中保持平坦，但在凸轮驱动的拉伸过程中转变为尖锐的突起，从而实现受控的穿透后旋转刮擦，样本保留在内部扇形腔体中。台架测试证实PI薄膜的杨氏模量约为20MPa，部署角度稳定（15%应变时约为34度），而体外猪研究显示浅层穿透深度（中位数约0.61mm，范围0.46-0.66mm）和活检产量与标准镊子相当（胃部平均约10.9mg，肠部约18.9mg），且报告的力在安全范围内。这些发现表明，Kiri-Capsule弥合了被动成像与功能活检之间的差距，提供了一种可吞咽、深度可控且适合组织学分析的解决方案，推动胶囊式诊断向安全有效的临床应用迈进。
英文摘要：
Wireless capsule endoscopy (WCE) has transformed gastrointestinal (GI) diagnostics by enabling noninvasive visualization of the digestive tract, yet its diagnostic yield remains constrained by the absence of biopsy capability, as histological analysis is still the gold standard for confirming disease. Conventional biopsy using forceps, needles, or rotating blades is invasive, limited in reach, and carries risks of perforation or mucosal trauma, while fluid- or microbiota-sampling capsules cannot provide structured tissue for pathology, leaving a critical gap in swallowable biopsy solutions. Here we present the Kiri-Capsule, a kirigami-inspired capsule robot that integrates deployable PI-film flaps actuated by a compact dual-cam mechanism to achieve minimally invasive and repeatable tissue collection. The kirigami surface remains flat during locomotion but transforms into sharp protrusions upon cam-driven stretching, enabling controlled penetration followed by rotary scraping, with specimens retained in internal fan-shaped cavities. Bench tests confirmed that PI films exhibit a Young's modulus of approximately 20 MPa and stable deployment angles (about 34$^\circ$ at 15% strain), while ex vivo porcine studies demonstrated shallow penetration depths (median $\sim$0.61 mm, range 0.46--0.66 mm) and biopsy yields comparable to standard forceps (mean $\sim$10.9 mg for stomach and $\sim$18.9 mg for intestine), with forces within safe ranges reported for GI biopsy. These findings demonstrate that the Kiri-Capsule bridges passive imaging and functional biopsy, providing a swallowable, depth-controlled, and histology-ready solution that advances capsule-based diagnostics toward safe and effective clinical application.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
