analysis data

Most wireless capsule robots rely on passive movement driven by gravity and intestinal peristalsis, limiting the ability to perform targeted diagnostics and microsurgical operations in specific pathological areas. Therefore, the development of capsule robots with active control capabilities is of critical research interest. Building on the concept of modular, magnetically controlled robots collaborating through multiple swallowing events, as proposed in our previous research, we first constructed a three-axis Helmholtz coil model and quantitatively analyzed the factors influencing the magnetic field. Secondly, simulations based on the experimental setup parameters were conducted to evaluate and implement the magnet's step-out frequency. Thirdly, according to the simulation results, a prototype of the drive module for gastrointestinal capsule robots has been designed and proposed, enabling forward translation while maintaining stability at one end. It can support a biopsy function module, which, after docking, enables specific angular rotations to perform multiple sampling procedures at different locations within the body. Finally, in the experiments involving the individual motion of the module, coupled motion after docking, and targeted displacement within the pipe, the results showed that the drive module alone achieved a speed of 21.5 mm/s, while the speed after multi-module docking was 9.2 mm/s. The targeted positioning exhibited a stable deviation error of less than 2.1 mm. This modular robot solves the stability issue during the conversion of magnetic torque into propulsion force and provides a novel approach for minimally invasive surgeries requiring translational motion or high-precision targeting.