Journal of Zhejiang University SCIENCE  A

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A magnetically controlled capsule robot for dual-target constant-rate drug delivery and stable anchoring


Author(s):  Shengqian QU1, 3*, Siyuan HAN2*, Zitong LIAO1, Wenbo ZHOU1, Congxin JIE1, Chunying LI3, Shichao NIU4, Gang LIU2, Shuxiang GUO3, 6, 7, Fanhong CHEN5, Xiaohui DU5, Yang ZHAO1

Affiliation(s):  1Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University, Xiamen 361102, China 2School of Public Health, Xiamen University, Xiamen 361102, China 3Advanced Institute for Ocean Research, Southern University of Science and Technology, Shenzhen 518055, China 4College of Bionic Science and Engineering, Jilin University, Changchun 130012, China 5Sensor and Network Control Center, Instrumentation Technology and Economy Institute, Beijing 100055, China 6Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen 518055, China 7Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing 100081, China

Corresponding email(s):  Fanhong CHEN, cfh@tc124.com Xiaohui DU, dxh@instrnet.com Yang ZHAO, zhaoy@xmu.edu.cn

Key Words:  Capsule robot; Magnetic actuation; Targeted drug delivery; Active anchoring


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Shengqian QU1,3*, Siyuan HAN2*, Zitong LIAO1, Wenbo ZHOU1, Congxin JIE1, Chunying LI3, Shichao NIU4, Gang LIU2, Shuxiang GUO3,6,7, Fanhong CHEN5, Xiaohui DU5, Yang ZHAO1. A magnetically controlled capsule robot for dual-target constant-rate drug delivery and stable anchoring[J]. Journal of Zhejiang University Science A,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/jzus.A2600363

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author="Shengqian QU1,3*, Siyuan HAN2*, Zitong LIAO1, Wenbo ZHOU1, Congxin JIE1, Chunying LI3, Shichao NIU4, Gang LIU2, Shuxiang GUO3,6,7, Fanhong CHEN5, Xiaohui DU5, Yang ZHAO1",
journal="Journal of Zhejiang University Science A",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/jzus.A2600363"
}

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%A Shengqian QU1
%A 3*
%A Siyuan HAN2*
%A Zitong LIAO1
%A Wenbo ZHOU1
%A Congxin JIE1
%A Chunying LI3
%A Shichao NIU4
%A Gang LIU2
%A Shuxiang GUO3
%A 6
%A 7
%A Fanhong CHEN5
%A Xiaohui DU5
%A Yang ZHAO1
%J Journal of Zhejiang University SCIENCE A
%P
%@ 1673-565X
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%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/jzus.A2600363"

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T1 - A magnetically controlled capsule robot for dual-target constant-rate drug delivery and stable anchoring
A1 - Shengqian QU1
A1 - 3*
A1 - Siyuan HAN2*
A1 - Zitong LIAO1
A1 - Wenbo ZHOU1
A1 - Congxin JIE1
A1 - Chunying LI3
A1 - Shichao NIU4
A1 - Gang LIU2
A1 - Shuxiang GUO3
A1 - 6
A1 - 7
A1 - Fanhong CHEN5
A1 - Xiaohui DU5
A1 - Yang ZHAO1
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doi="https://doi.org/10.1631/jzus.A2600363"


Abstract: Gastrointestinal (GI) drug delivery remains challenging because sustained constant-rate infusion and positional stability are difficult to achieve simultaneously. Conventional magnetic capsules often rely on burst-type or nonlinear release mechanisms. To address these limitations, a magnetically controlled dual-target constant-rate drug delivery capsule system (M-DCDC) is presented. The system enables highly linear and quantitatively adjustable drug infusion through specialized screw-piston transmission. This mechanism establishes a direct relationship between the magnetic rotation frequency and the delivery rate, achieving a maximum flow rate of 0.1 mL/s with predictable dosage control. Sequential dual-target delivery is achieved through functional decoupling. By reversing the direction of the magnetic field, two independent reservoirs, each with a volume of 0.6 mL, can be selectively actuated at separate target sites. To resist intestinal peristalsis, a self-locking mechanical anchoring module is integrated to maintain positional stability without continuous power consumption. Analytical modeling, finite element analysis (FEA), benchtop tests, and ex vivo experiments using porcine intestines demonstrate that M-DCDC can withstand a peristaltic force of 0.32 N while achieving localized staining. By combining stable anchoring with decoupled con

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On-line Access: 2026-07-13

Received: 2026-06-06

Revision Accepted: 2026-07-01

Crosschecked: 0000-00-00

Cited: 0

Clicked: 19

Citations:  Bibtex RefMan EndNote GB/T7714

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